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Soft landing control strategy for biped robot

Hongbo Zhu (Department of Automation, University of Science and Technology of China, Hefei, China)
Minzhou Luo (Institute of Advanced Manufacturing Technology, Hefei Institute of Physical Science, Chinese Academy of Sciences, Changzhou, China)
Jianghai Zhao (Institute of Advanced Manufacturing Technology, Hefei Institute of Physical Science, Chinese Academy of Sciences, Changzhou, China)
Tao Li (Institute of Advanced Manufacturing Technology, Hefei Institute of Physical Science, Chinese Academy of Sciences, Changzhou, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 15 May 2017

Abstract

Purpose

The purpose of this paper was to present a soft landing control strategy for a biped robot to avoid and absorb the impulsive reaction forces (which weakens walking stability) caused by the landing impact between the swing foot and the ground.

Design/methodology/approach

First, a suitable trajectory of the swing foot is preplanned to avoid the impulsive reaction forces in the walking direction. Second, the impulsive reaction forces of the landing impact are suppressed by the on-line trajectory modification based on the extended time-domain passivity control with admittance causality that has the reaction forces as inputs and the decomposed swing foot’s positions to trim off the forces as the outputs.

Findings

The experiment data and results are described and analyzed, showing that the proposed soft landing control strategy can suppress the impulsive forces and improve walking stability.

Originality/value

The main contribution is that a soft landing control strategy for a biped robot was proposed to deal with the impulsive reaction forces generated by the landing impact, which enhances walking stability.

Keywords

Acknowledgements

This research has been supported by National Science and Technology Support Program (Grant No.2015BAK06B02), Science and Technology Support Plan Key Projects of Jiangsu province (Grant No.BE2013003) and National Nature Science Foundation of China (Grant No. 51405469).

Citation

Zhu, H., Luo, M., Zhao, J. and Li, T. (2017), "Soft landing control strategy for biped robot", Industrial Robot, Vol. 44 No. 3, pp. 312-323. https://doi.org/10.1108/IR-09-2016-0244

Publisher

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Emerald Publishing Limited

Copyright © 2017, Emerald Publishing Limited