关键词：机器人；ZMP；两足机器人；力量控制；速度限制
摘 要：This paper implements position control of a biped robot via velocity control with automatically generated joint torque and velocity limits so as to have zero overshoot of the COM and sliding, tipping and twisting of the robots feet while allowing the COM to move in mimimum time to a refferential position. This method allows the position controller to be robust to external disturbances and is able to reject the maximum amount of external force without letting the feet tip over(not unnecesserily compliant like some methods). This method is also general in the sense that all 6 axes can have ground reaction force limits so sliding, twisiting and tipping of the feet can be prevented. Also this method does not require a refferential ZMP trajectory. Friction and coriollis forces are detected via a type of workspace disturbance observer. Knowledge of the magnitude of this disturbance allows the motor torques to be limited so that the total ground reaction force doesnt lead to unstable conditions at the feet. The proposed method with velocity limits is verified on the biped robot MARI-3 and it is shown that overshoot is eliminated while being compliant to external disturbances.