Full-body motion control of a humanoid robot

Official URL: https://risc01.sabanciuniv.edu/record=b270850_(Table of contents)

Legged systems such as biped robots are more suitable for dynamic tasks to work with humans. Biped robots can achieve better maneuverability and efficiently avoid obstacles because they have better agility and flexibility than other mobile systems like wheeled vehicles. However, the challenges of controlling the biped robots with full-body motion create instability and increase the chance of falling or failure of achieving the tasks. The thesis presents a method in which the robot maintains balance while pushing the wall in front of it using the reference body reaction forces obtained from the inverse dynamics method. The reference ground reaction forces for both feet are obtained with an optimization technique that uses linear constraints. Calculating the reference ground reaction force allows generating the leg joint torques for the double support phase. Also, a hybrid control method for manipulating arms is introduced to apply the desired pushing force to the wall. To validate the proposed method, a simulation environment is constructed for the 30-DOF biped robot that includes 3D dynamics and external force reaction models.