Walking control for feasibility at limit of kinematics based on virtual leader-follower

Mismatch between a robot and its simplified COM-ZMP model happens as the latter does not consider the limits of kinematics. Conservative approaches restrain the robot mobility to avoid the kinematic constraints. The present work proposes the use of virtual leader-follower concept and a robust prioritized inverse kinematics solver over a walking controller based on COM-ZMP model to accomplish walking at the boundaries of workspace. Simulations with simplified dynamics showed the applicability of the method. In the case of whole-body dynamics included, a forward motion with stretched knees was achieved at the cost of longitudinal velocity. It is suggested that the proposed method is applicable to different controllers.