Biped Robot Control for Variable Speed Walking Considering Joint Torque Limit

One of the the important issues to drive bipedal robot is a limit of joint actuator. In case of a high-speed walking motion or the motion with heavy load, motor torque is saturated. To address this issue, this paper proposes a control strategy to avoid the torque saturation. First, the walking pattern is generated according to the requred walking speed. Then the exaggerated torque is calcurated from the final torque reference and the estimated disturbance torque. Second, the generated walking pattern is modified so that the motor torque is not saturated. The effectiveness of the proposed algorithm is confirmed by several results of simulation and experiment.