I developed walking controllers for humanoid robots with position-controlled joints in Robotics and Mechanisms Laboratory (RoMeLa) at Virginia Tech. The controller gets the target walking velocity as an input and outputs target joint angles to the servo motors. In detail, 1) reference pelvis and feet trajectories are calculated for a target velocity based on the linear inverted pendulum model (LIPM) to keep the zero moment point (ZMP) under the ankle; 2) these reference trajectories are modified based on the IMU sensory data; and 3) inverse kinematics is solved to calculate the target joint angles.

Humanoid robots

MiniHUBO
DARwIn4
CHARLI-L

Competitions

RoboCup 2010 Adult-size division, Humanoid league. 3rd place.
RoboCup 2010 Kid-size division, Humanoid league, 4th place.
RoboCup 2009 Kid-size division, Humanoid league.

Supplemental Video

Team CHARLI won the world champion in RoboCup 2011!


Team DARwIn won the world champion in RoboCup 2011!

Acknowledgements

I thank to all the members of Team CHARLI and Team DARwIn.

Paper

S. Song, Y. Ryoo, and D. Hong, Development of an omnidirectional walking engine for full-sized lightweight humanoid robots, ASME IDETC, 2011. [paper]