Control of biped robot based on energy and angle invariant combination
Abstract：In order to improve the stability of passive walking gait of under-actuated biped robot,expand the convergence domain of limit loop and enhance the interference restraint ability,a method of combining angle invariant with energy control was proposed.The steady gaits on the ground with different slope angles were attained by the angle invariant control.The convergence domain of gait limit loop for the robot was expanded by the energy control method.And the gain of energy controller was regulated on-line with an adjustable nonlinear function.The change rules of the limit loop,gait curve and energy curve with the slope angle were summarized through analyzing the simulation curves.The simulation results show that the present method can not only expand the convergence domain of limit loop,but also increase the robustness of the system to the ground slope variation.
Keywords：under-actuatedbiped robotlimit loopangle invariant controlenergy controlvirtual gravityself tuningrobustness
Publication Date：2011-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)