Virtual Model Control An Intuitive Approach for Bipedal….pdf
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Virtual Model Control: An Intuitive Approach for
Bipedal Locomotion
Jerry Pratt, Chee-Meng Chew, Ann Torres, Peter Dilworth, Gill Pratt
MIT Leg Laboratory, Cambridge, MA 02139
/projects/leglab/
Abstract
The transformation from high level task specification to low level motion control is a fundamental
issue in sensorimotor control in animals and robots. This paper describes a control scheme called
Virtual Model Control that addresses this issue.
Virtual Model Control is a motion control language that uses simulations of imagined mechan-
ical components to create forces, which are applied through real joint torques, thereby creating
the illusion that the virtual components are connected to the robot. Due to the intuitive nature
of this technique, designing a Virtual Model Controller requires the same skills as designing the
mechanism itself. A high level control system can be cascaded with the low level Virtual Model
Controller to modulate the parameters of the virtual mechanisms. Discrete commands from the
high level controller would then result in fluid motion.
Virtual Model Control has been applied to a physical bipedal walking robot. A simple algo-
1
rithm utilizing a simple set of virtual components has successfully compelled the robot to walk
continuously over level terrain.
We also describe how an algorithm based on Virtual Model Control can be applied to dynamic
walking over sloped terrain without knowing the slope gradients and transition locations. The
algorithm is augmented from the level terrain algorithm based on geometric considerations. The
overall algorithm is very simple and does not require the biped to have an extensive sensory system
for walk
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