Quadruped Robot Control with Whole-Body Control Framework
Quadruped robots have better mobility than other legged robot such as biped robots, especially on uneven terrain. However, controlling quadruped robots based on kinematics is too difficult to recognize obstacles or rough surfaces without sensors. To overcome this problem, robot control should be compliant.
In our Lab, whole-body control framework is adopted for the compliant control. Using whole-body control framework, we can accomplish compliant control with torque control, control on multi-contact state, and floating base control with virtual joints.
We also focus on the reaction force control. Because of reaction forces, it is too difficult for quadruped robots to maintain stable posture when walking. To compensate for reaction forces, appropriate force distribution is required.