Sagittal Walking Control of Biped Robot Equipped with Artificial Tendon
To overcome the shortage of elastic elements in rigid leg in traditional bipedal robots,a novel leg scheme with artificial tendon inspired from tendon-muscle complex in human's leg and foot.A 4-DoF biped prototype with five-linkage configuration is also developed.The optimization paradigm of bipedal walking is constructed based on the linear inverted pendulum(LIP).The dynamical walking controller is devised based on the LIP model embodying the swing and the stance part.In swing,a PD control strategy is employed by combining the Bezier spline-based foot trajectory planning and model-based feedforward compensation.In stance,a control strategy with the feedforward of ground reaction force is proposed by integrating the feedback control of body pitch and height.The effectiveness of the proposed algorithm is experimentally validated.Experimental results demonstrate that the bipedal robot achieves stable walking at 0.8 m/s(almost 2 times of leg length per second),and the fluctuations of the body pitch and height are restrained within±7° and±4 cm,respectively.The aforementioned contributions can be further extended to the systematic design of humanoids executing mobile manipulation in 3D world.
biped robotartificial tendondynamical gaitlocomotion control
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