What question did this study set out to answer?

The aim is to develop a model-based method for controlling joint torques in humanoid robots to maintain balance using contact forces.

October 1, 2010

Dynamic Balance Force Control for compliant humanoid robots

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Model-based method improves joint torque determination and balance in compliant humanoid robots, suggesting a new control strategy.

The aim is to develop a model-based method for controlling joint torques in humanoid robots to maintain balance using contact forces.
Introduced Dynamic Balance Force Control (DBFC) to calculate full body joint torques.
Developed a virtual model controller (DBFC-VMC) for generic force control tasks.
Performed experiments on a force-controlled humanoid robot and simulations to validate the approach.
DBFC successfully determined joint torques leading to stable balance during operation.
Experiments demonstrated effective contact force control aligning with desired COM motion.
Simulation results indicated general-purpose usability of the DBFC method.

Stephens et al. (2010) studied this question.

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