Whole-body Compliant Motion by Resolved Acceleration Control on Hydrostatically Driven Humanoid Hydra

Abstract

This paper demonstrates a whole-body compliant motion by using resolved acceleration control, on the hydrostatically driven humanoid Hydra. Although Hydra realized a compliant and robust motion control in a previous study, it was limited on the ideal planar surface. In this paper, a robust standing balance on an inclining seesaw is achieved, utilizing a compliant motion realized by resolved acceleration control and a state estimation by IMU sensor. Moreover, an experimental comparison with joint position control and resolved viscoelasiticity control is shown, about the biped walking performance.