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

Fei Wang (Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China)
Chengdong Wu (Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China)
Xinthe Xu (Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China)
Yunzhou Zhang (Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 21 August 2009

590

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.

Keywords

Citation

Wang, F., Wu, C., Xu, X. and Zhang, Y. (2009), "A coordinated control strategy for stable walking of biped robot with heterogeneous legs", Industrial Robot, Vol. 36 No. 5, pp. 503-512. https://doi.org/10.1108/01439910910980231

Publisher

:

Emerald Group Publishing Limited

Copyright © 2009, Emerald Group Publishing Limited

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