Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking
Jenna Reher Aaron D. Ames Jenna Reher Aaron D. Ames
We present a trajectory planning and control architecture for bipedal locomotion at a variety of speeds on a highly underactuated and compliant bipedal robot. A library of compliant walking trajectories are planned offline, and stored as compact arrays of polynomial coefficients for tracking online. The control implementation uses a floating-base inverse dynamics controller which generates dynamic...