Control Barrier Function-based Whole-body Control Framework for Humanoid Robots
Journal
International Journal of Humanoid Robotics
Journal Volume
22
Journal Issue
03
ISSN
0219-8436
1793-6942
Date Issued
2025
Author(s)
Abstract
This paper addresses the challenge of deploying high-Degree-of-Freedom (DoF) humanoid robots in real-world scenarios, a critical issue in robotics. Previous approaches often relied on oversimplified assumptions, limiting robots’ adaptability. This work emphasizes the need for a flexible control framework for operational efficacy and safety. Significant advancements include floating-based kinematics for expanded robot workspace and stability, and a recursive algorithm for the Centroidal Momentum Matrix (CMM), enhancing motion planning. A novel self-collision avoidance algorithm employing boundary spheres and Control Barrier Functions (CBFs) ensures operational safety. A major contribution is the development of a control barrier function-based Quadratic Programming (QP)-based control framework integrating Proportional-Derivative (PD) control for stable walking. The paper simplifies trajectory design by categorizing motion tasks and enhances dynamic stability using a new angular momentum rate change compensation method with force-torque sensor feedback. These improvements mark a substantial leap in humanoid robotics, enhancing efficiency, functionality, and adaptability, and paving the way for their broader integration into human society.
Subjects
centroidal momentum matrix
control barrier function
floating-based kinematics
Humanoid robot
quadratic programming
SDGs
Publisher
World Scientific Pub Co Pte Ltd
Type
journal article