This paper presents a model-based method, called Dynamic Balance Force Control (DBFC), for determining full body joint torques based on desired COM motion and contact forces for compliant humanoid robots. The center of mass (COM) dynamics are affected directly through contact force control to achieve stable balance. This idea is used to formulate DBFC considering the full rigid-body dynamics of the robot to produce desired contact forces. To achieve generic force control tasks, a virtual model controller, DBFC-VMC, is presented. Results presented from experiments on a force-controlled humanoid robot and simulation demonstrate the general purpose use of this control.
Stephens et al. (Fri,) studied this question.