In this paper, we present the control system configuration, basic control schemes and Gaits compensation algorithm of the THBIPE-I humanoid robot. The robot is controlled under off line gaits planning and joint trajectories tracing scheme as most bipedal robots have done. For the reasons of rigidity of mechanical structures and backlash of the transmission train, the robot cannot perform a precise gait tracing. The geometry configuration of leg joints is not the same as that of which satisfied the ZMP criterion. Four joint angles in lateral plane is adopted in real-time to compensate the inputs of the joint controller. Simulation results show this scheme has an adaptive ability to the unexpected distortion, such as mechanical backlash and contact force.
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