Task Priority Oriented Joint Compliance Control for Biped Robots

This paper designs a joint motion controller for stable movement of humanoid biped robots,integrating Multi-Priority Inverse Kinematics (MPIK) and Multi-Priority Dynamic Control (MPDC). MPIK utilizes a numerical iterative algorithm to compute joint position commands,while MPDC implements control based on a task space dynamic model through an iterative optimization method for multiple priorities along the forward path. This approach avoids the need for pre-allocating or optimizing contact forces and does not directly control the center of mass movement,striving to achieve high-priority tasks. Ultimately,we establish a stable joint compliance force control framework and ensure that the force control system can achieve precise position tracking by incorporating kinematic error information.