Torque-Based Balancing Control for Teleoperated Bipedal Robots

This paper proposes a torque-based leg controller to realize the teleoperated walking of biped robots. The controller is an extension of Kanaoka’s balancing controller and allows the robot to switch legs and walk by leg force commands from the operator. It is made possible by switching the controller between the double- and single-support phases with appropriate mode transitions. The proposed controller was validated using a real-time simulator with haptic devices, in which the robot performed static and dynamic walking on a flat surface and slopes, following the operator’s command through haptic devices.