Compliant Control for Walking Robots with the Use of a Virtual Spring-Damper System

The paper deals with one of the modern challenges in walking robotics: moving across a rough terrain where the geometry of the terrain is unknown and hence it is impossible to plan precise trajectories for the robot feet in advance, before a collision with the supporting surface occurs. In this paper, an algorithm for the dynamics correction of the foot trajectory based on the compliant control is employed to deal with the problem. Additionally, to solve the problem of dynamic correction of the foot trajectory, it also provides a biomorphic reaction force profile, which might be a desired property for some applications.