A Bionic Walking Control for Biped Robot Using Sinusoidal Input and Sensory Feedback
WANG Jianmei1, FU Chenglong1,2, CHEN Ken1,2, HUANG Yuanlin1
1. Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China; 2. The State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
王健美, 付成龙, 陈恳, 黄元林. 正弦驱动与传感反馈结合的双足机器人仿生行走控制[J]. 机器人, 2009, 31(6): 599-604..
WANG Jianmei, FU Chenglong, CHEN Ken, HUANG Yuanlin. A Bionic Walking Control for Biped Robot Using Sinusoidal Input and Sensory Feedback. ROBOT, 2009, 31(6): 599-604..
Abstract：A bionic walking control strategy for biped robot using sinusoidal input and sensory feedback is proposed.All joints are actuated by sinusoidal oscillator,which is simpler than coupled neural oscillators.Control parameters have clear physical meaning,and it is convenient to adjust walking pattern.Locomotion states of robot are characterized by sensory feedbacks,which play an important role in ensuring stable walking.Some key locomotion states,such as ground impact and knee impact,are used as phase feedback to reset joint torques and coordinate movement of different joints.The coupling among controller,robot,and environment is then realized.The actuating areas of torques are determined considering passive characteristic of joints from the perspectives of saving energy and imitating human beings.The simulation results show that stable walking with favorable energy efficiency and self-stability is obtained using this control strategy.
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