Generating motion of center of mass for biped robots is a challenging issue since biped robots can easily lose balance due to limited contact area between foot and ground. In this paper, we propose force control method to generate high-speed motion of the center of mass for horizontal direction without losing balancing condition. Contact consistent multi-body dynamics of the robot is used to calculate force for horizontal direction of the center of mass considering balance. The calculated force is applied for acceleration or deceleration of the center of mass to generate high speed motion. The linear inverted pendulum model is used to estimate motion of the center of mass and the estimated motion is used to select either maximum or minimum force to stop at goal position. The proposed method is verified by experiments using 12-DOF torque controlled human sized legged robot.

1. 서 론
 2. 연구 개요
 3. 선형역진자 모형 기반의 CoP 결정 방법
  3.1. 가속을 위한 CoP 선택
  3.2 감속을 위한 CoP로의 전환 및 정지
 4. CoP 제어를 위한 CoM 힘 제어 기법
  4.1 접촉을 고려한 전신 제어기의 구성
  4.2 CoP 제어를 위한 CoM 제어 힘 계산
 5. 실 험
  5.1 목표 위치 추종 실험
  5.2 제자리 걸음 실험
 6. 결 론
 References

• 이이수(Graduate School of Convergence Science and Technology, Seoul National University) | Yisoo Lee
• 박재흥(Graduate School of Convergence Science and Technology, Seoul National University) | Jaeheung Park Corresponding Author