Missing
capabilities of bipeds include agility to operate in crowded
environments, human and robot safety to collisions and falls, power
autonomy, and efficiency in power performance. On the other hand,
whole-body compliant control is the process of controlling
simultaneously internal multicontact forces, task trajectories, and
task forces of multiple coordinate frames using torque commands.
Internal multicontact forces are those that do not cause or result from
instantaneous movement of the robot. In this talk we will briefly
describe the performance of whole-body compliant controllers during
agile standing maneuvers and stepping behaviors in a point foot series
elastic bipedal robot. We will achieve this by
(1) leveraging models of multicontact,
(2)
studying the performance of point feet robot on regulating internal
forces and following trajectories by means of whole-body compliant
control,
(3) leveraging phase space planning techniques to achieve robustness through online replanning,
(4) experimenting with our point feet biped on balancing in split beveled terrains, and
(5) experimenting with stepping behaviors under collisions.