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The International Journal of Robotics Research
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Virtual Model Control: An Intuitive Approach for Bipedal Locomotion

Jerry Pratt

Chee-Meng Chew

Ann Torres

Peter Dilworth

Gill Pratt

Leg Laboratory, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, USA

Virtual model control is a motion control framework that uses virtual components to create virtual forces generated when the virtual components interact with a robot system. An algorithm derived based on the virtual model control framework is applied to a physical planar bipedal robot. It uses a simple set of virtual components that allows the robot to walk successfully over level terrain. This paper also describes how the algorithm can be augmented for rough terrain walking based on geometric consideration. The resulting algorithm is very simple and does not require the biped to have an extensive sensory system. The robot does not know the slope gradients and transition locations in advance. The ground is detected using foot contact switches. Using the algorithm, we have successfully compelled a simulated seven-link planar biped to walk blindly up and down slopes and over rolling terrain.

Key Words: biped • legged locomotion • virtual model control • impedance control

The International Journal of Robotics Research, Vol. 20, No. 2, 129-143 (2001)
DOI: 10.1177/02783640122067309
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