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A coordinated control strategy for stable walking of biped robot with heterogeneous legs

A coordinated control strategy for stable walking of biped robot with heterogeneous legs Purpose – The purpose of this paper is to present a coordinated control strategy for stable walking of biped robot with heterogeneous legs (BRHL), which consists of artificial leg (AL) and intelligent bionic leg (IBL). Design/methodology/approach – The original concentrated control in common biped robot system is replaced by a master‐slave dual‐leg coordinated control. P‐type open/closed‐loop iterative learning control is used to realize the time‐varying gait tracking for IBL to AL. Findings – The new control architecture can simplify gait planning scheme of BRHL system with complicated closed‐chain mechanism and mixed driving mode. Research limitations/implications – Designing and constructing a suitable magneto‐rheological damper can greatly improve the control performance of IBL. Practical implications – Master‐slave coordination strategy is suitable for BRHL stable walking control. Originality/value – The concepts and methods of dual‐leg coordination have not been explicitly proposed in single biped robot control research before. Master‐slave coordinated control strategy is suitable for complicated BRHL. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

A coordinated control strategy for stable walking of biped robot with heterogeneous legs

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Publisher
Emerald Publishing
Copyright
Copyright © 2009 Emerald Group Publishing Limited. All rights reserved.
ISSN
0143-991X
DOI
10.1108/01439910910980231
Publisher site
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Abstract

Purpose – The purpose of this paper is to present a coordinated control strategy for stable walking of biped robot with heterogeneous legs (BRHL), which consists of artificial leg (AL) and intelligent bionic leg (IBL). Design/methodology/approach – The original concentrated control in common biped robot system is replaced by a master‐slave dual‐leg coordinated control. P‐type open/closed‐loop iterative learning control is used to realize the time‐varying gait tracking for IBL to AL. Findings – The new control architecture can simplify gait planning scheme of BRHL system with complicated closed‐chain mechanism and mixed driving mode. Research limitations/implications – Designing and constructing a suitable magneto‐rheological damper can greatly improve the control performance of IBL. Practical implications – Master‐slave coordination strategy is suitable for BRHL stable walking control. Originality/value – The concepts and methods of dual‐leg coordination have not been explicitly proposed in single biped robot control research before. Master‐slave coordinated control strategy is suitable for complicated BRHL.

Journal

Industrial Robot: An International Journal – Emerald Publishing

Published: Aug 21, 2009

Keywords: Robotics; Control technology; Motion

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