Dynamic heel-strike toe-off walking controller for full-size modular humanoid robots

摘要: General purpose modular actuators have greatly lowered the difficulty of building and maintaining high degree freedom humanoid robots. In addition to widely adopted miniature robots, full-size robots can now be built using such actuators. To overcome torque control bandwidth limitations actuators, tend a design principle relatively short leg length large foot size. However, kinematic constraints from limit bipedal mobility robot. this paper, we present an efficient walking controller that utilizes moving Zero Moment Point (ZMP) trajectory, automatically calculated heel toe lift motions reference tilt trajectory generate dynamic heel-strike toe-off gait with stride lengths while overcoming constraints. We demonstrate suggested in physically realistic simulations, on THOR-RD full-sized