Abstract
For the central pattern generation inspired biped walking control algorithm, it is hard to coordinate all the degrees of freedom of a robot by regulating the parameters of a neutral network to achieve stable and adaptive walking. In this work, a hybrid rhythmic–reflex control method is presented, which can realize stable and adaptive biped walking. By integrating zero moment position information, the walking stability can be improved on flat terrain. The robot’s body attitude information is used to modulate the control system in real-time to realize sloped terrain adaptive walking. A staged parameter evolution process is used to derive the parameters. Through the entrainment of the oscillatory network and the feedback information, the real-time joint control signals can be regulated to realize adaptive walking. The presented control strategy has been verified by using a biped robot restricted in sagittal plane and the experiments reveal that the robot can successfully achieve changing sloped terrain adaptive walking.
Highlights
The biped robot have been getting lots of attention due to its great adaptability to different walking environments, excellent obstacle avoidance ability and extremely good applicability in various fields, like military, space exploration and ocean detection
The rest of this paper is organized as follows: Section 2 describes the architecture of the presented rhythmic-reflex hybrid control system, Section 3 presents the model of the seven-link robot, the details of the proposed algorithm are described in Sections 4 and 5, Section 6 verifies the real-time performance and validity of the presented control system algorithm by simulations and Section 7 concludes this paper
For the biped robot restricted in sagittal plane, the Zero Moment Position (ZMP) [36] in x–axis direction can be calculated according to the following equation: n n mixcord i − mi xcord i ycord i xzmp = i=1 n i=1 mi where is the Cartesian coordinate of the centroid and mi is the mass, where n = 7 represents seven links of the robot. g is the gravity acceleration
Summary
The biped robot have been getting lots of attention due to its great adaptability to different walking environments, excellent obstacle avoidance ability and extremely good applicability in various fields, like military, space exploration and ocean detection. The body attitude angle is used to imitate the bio-mechanism, vestibule spinal reflex, to modulate the oscillator signals automatically and the ZMP-based feedback loop is added to improve the stability of biped walking. The advantage of this proposed method is that it can realize adaptive and stable biped robot walking pattern in real-time without requiring prior terrain information, or relying on range sensor information for surface topology measurement. The rest of this paper is organized as follows: Section 2 describes the architecture of the presented rhythmic-reflex hybrid control system, Section 3 presents the model of the seven-link robot, the details of the proposed algorithm are described in Sections 4 and 5, Section 6 verifies the real-time performance and validity of the presented control system algorithm by simulations and Section 7 concludes this paper
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