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• W3199921423 abstract "To give the biped robots a faster locomotion and better obstacle passing performance, high-dynamic motions are important. However, the instabilities and the huge impact result from the high-dynamic motions are remained challenges for the control. In this paper, a complete control framework is proposed, unifying all the controllers by the essential idea of contact force and torque control. The control framework is divided into two phases: The support phase control, which including the posture controller, the zero-moment-point controller and the threshold-added-torso-position-compliance controller; The flying phase control, which including the swing leg controller and the step position controller. To obtain a better performance for the contact force and torque control, a novel contact torque controller and a collision absorbing controller are proposed. The control framework is validated with experiments of the biped robot BHR-T performing running and jumping motions." @default.
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• W3199921423 date "2021-07-03" @default.
• W3199921423 modified "2023-09-23" @default.
• W3199921423 title "A Unified Control Framework for High-Dynamic Motions of Biped Robots" @default.
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• W3199921423 doi "https://doi.org/10.1109/icarm52023.2021.9536066" @default.
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