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).
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.
The new control architecture can simplify gait planning scheme of BRHL system with complicated closed‐chain mechanism and mixed driving mode.
Designing and constructing a suitable magneto‐rheological damper can greatly improve the control performance of IBL.
Master‐slave coordination strategy is suitable for BRHL stable walking control.
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.
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/10.1108/01439910910980231Download as .RIS
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