Humanoid Robot Force Feedback Control Method

Humanoid robot is one of the most active sides of intelligent robot. In the past years large numbers of achievements was made in this field. The research to humanoid robot aims at substituting human to work, and improving environmental adaptability is the key to this aim. In order to improve environmental adaptability, it is essential for the robot to feel the environment, especially to acquire the interactive F/T(Force/Torque) information between feet and ground. While the F/T information plays a critical role in stability detection, posture control and adaptability improvement. The main content of this paper is studying methods which use F/T information in motion control to improve the humanoid robot's postural stability and adaptability.Firstly, the interface between sensors and controller is designed to collect the F/T information through force/torque sensors, and the feedback loop of F/T information is built. The characters of the humanoid system are detected through experiments.Secondly, based on the FRI point theory, formulae of FRI point and stability judgment are deduced under several kinds of postures.Keeping upright posture is one of the basic ability for the humanoid robot. Based on characters of robot, a new control law based on the strategy of ankles' Zero-Moment is proposed. And controller is designed to adjust the posture to improve the robot's environmental adaptability. Some experiments are carried out to verify controller's stability and feasibility.A strategy of real-time planning and control is proposed in the paper based on F/T information feedback. The robot lands it's whole sole on the ground by adopting ankle's moment control, calculates the parameters of gait and plans current step based on stability criterion. During walking, posture is real-time regulated according to the information of FRI point to realize the stability. In the end, the walking process is simulated and the feasibility of the algorithm is validated.Finally, some research on jumping control is brought forward. Strategy of jumping control and some correlative problems are discussed. In the end of this paper, some unsolved problems about further research are analyzed briefly.