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Research on bipedal walking is driven by the vision of humanoid robotic servants for the society of the future. Besides the human form, bipedal locomotion offers the possibility to step over small obstacles and stairs and allows for a relatively small support area. Active control of the zero-moment-point (ZMP) [15] by measuring the contact forces at the feet and precisely controlling the motion of the robot has been shown to be an effective paradigm of stabilizing walking motions of bipedal robots [2] [6]. In the design of humanoid robots that utilize this control approach the precision of the position controllers plays an important role [7]~ [9] [12] [14]. Joint torque sensing and control allows sensitive compliance and impedance control [10], but requires additional instrumentation in the drive units. The humanoid robot CB [1] utilizes explicit joint torque sensing in a hydraulic actuation system. Serial elastic actuators also offer an indirect way of measuring the joint torque and were applied to bipedal walking in Ref. [13]. While these actuators allow for force control due to their low impedance characteristics, precise trajectory tracking becomes more difficult. In this paper we present the hardware and control concepts for an electrically driven bipedal robot with integrated joint torque sensors (Fig. 1). The robot was designed as an experimental system for research on control aspects, including comparisons between strategies based on joint position or joint torque control.

Hardware and Control Concept for an Experimental Bipedal Robot with Joint Torque Sensors