Whole-Body Control Framework for Humanoid Robot

Since humanoid robot has many degree of freedom(DOF) and many branches like arms and legs so in most cases humanoid robot is under-actuation. Consequently a general control methodology that integrates various whole body behaviors into a single dynamically compensated control structure.

Whole-body control framework has some characteristics such as

  • Control robot with under-actuation.
  • Torque control with calculating inverse dynamics.
  • Control robot with multi-contact state.
  • Can control multi-tasks.
  • Floating base control is possible with concept of virtual joints.
  • Compliant control with torque control.

In our Lab. we are using whole-body control framework to control humanoid robot.