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Dynamic balancing under uncertain disturbances is important for a humanoidrobot, which requires a good capability of coordinating the entire bodyredundancy to execute multi tasks. Whole-body control (WBC) based onhierarchical optimization has been generally accepted and utilized intorque-controlled robots. A good hierarchy is the prerequisite for WBC and canbe predefined according to prior knowledge. However, the real-time computationwould be problematic in the physical applications considering the computationalcomplexity of WBC. For robots with proprioceptive actuation, the joint frictionin gear reducer would also degrade the torque tracking performance. In ourpaper, a reasonable hierarchy of tasks and constraints is first customized forrobot dynamic balancing. Then a real-time WBC is implemented via acomputationally efficient WBC software. Such a method is solved on a modularmaster control system UBTMaster characterized by the real-time communicationand powerful computing capability. After the joint friction being well coveredby the model identification, extensive experiments on various balancingscenarios are conducted on a humanoid Walker3 with proprioceptive actuation.The robot shows an outstanding balance performance even under external impulsesas well as the two feet of the robot suffering the inclination and shiftdisturbances independently. The results demonstrate that with the stricthierarchy, real-time computation and joint friction being handled carefully,the robot with proprioceptive actuation can manage the dynamic physicalinteractions with the unstructured environments well.

Dynamic Balancing of Humanoid Robot Walker3 with Proprioceptive Actuation: Systematic Design of Algorithm, Software and Hardware