Compensation of forces exerted over a short period applied to the ROBIAN biped robot trunk: Simulations and experiments

This paper deals with an analytical approach based on the inverse dynamic model to maintain the stability of the ROBIAN robot in the presence of external disturbances. The stabilization is carried out with a trunk having 4 degrees of freedom: three translations and one rotation. For a vertical posture of the robot, the trunk bodies of ROBIAN are used to compensate the external three-dimensional efforts applied to the robot. The first part of this study presents the simulation results of the dynamic behavior of the robot in the presence of external disturbances. During the simulation, this study enabled us to determine on-line the required movements and accelerations of the trunk parts necessary to maintain the stability of the robot. The proposed method was confirmed in a second phase of study through experiments for external force applied to ROBIAN for a short period.