Abstract
To make a biped robot walk stably at various speeds, a novel switch control approach is proposed to make the gaits switch smoothly between different walking speeds. The switch controller is designed based on the Lyapunov stability theory and the sufficient condition is given to make the closed-loop system stable. This controller can allow the robot to reach the stable gaits corresponding to the various speeds and improve the robustness of switch process. Potential energy compensation control has been studied in the dynamic model of a passive dynamic walking robot with knees. The functional relationship between the initial states and the walking speed is obtained. Numerical simulations are provided to verify the effectiveness of the control strategy.
Highlights
The idea of passive dynamic walking was pioneered by McGeer more than a decade ago[1]
Comparing with the desired speed, the results show that the speed from 0.8446m/s switches to 1.4628m/s successfully and speed switching process is smooth and natural
In order to make the biped robot with knees walk at the various speeds, a control algorithm named the speed switch control is proposed in this paper
Summary
The idea of passive dynamic walking was pioneered by McGeer more than a decade ago[1]. A stable walking motion that does not require any external energy source except gravity effect is called passive dynamic walking. McGeer designed several unpowered biped robot prototypes and studied their gravity‐induced passive walking down a shallow slope [2]. He demonstrated that the machines can attain a stable natural periodic gait and the passive walking has high energy efficiency. The active feedback control laws to yield a stable walking motion have been investigated by several researchers. These control laws were based on the passivity property of the biped robot. The emphasis in the literature is mainly on how to www.intechopen.com
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