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 ...
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