Abstract
The bipedal robot should be able to maintain standing balance even in the presence of disturbing forces. The control schemes of bipedal robot are conventionally developed based on system models or fixed torque-ankle states, which often lack robustness. In this paper, a variable impedance control based on artificial muscle activation is investigated for bipedal robotic standing balance to address this limitation. The robustness was improved by applying the artificial muscle activation model to adjust the impedance parameters. In particular, an ankle variable impedance model was used to obtain the antidisturbance torque which combined with the ankle dynamic torque to estimate the desired ankle torque for robotic standing balance. The simulation and prototype experimentation results demonstrate that the control method improves the robustness of bipedal robotic standing balance control.
Highlights
Nowadays, a vast variety of bipedal robots have been created to help humans and they have been applied to a myriad of social applications, such as military training, medical services, industrial manufacturing, and other fields [1]
The proposed variable impedance control method is composed of three vital components: a dynamic model to estimate the dynamic torque, an ankle impedance model to calculate the disturbance torque, and an impedance adjust component to update the impedance parameters based on artificial muscle activation model
During the bipedal robotic standing balance control, the ankle impedance model stiffness and damping value are automatically updated according to the changes of the virtual muscle activation amount to adapt to the swing state of the bipedal robotic trunk. e changing process is shown in Figures 10(c) and 10(d). e ankle torque was calculated based on the ankle variable impedance model, the maximum ankle torque was 1.1 Nm, and the minimum ankle torque was −0.5 Nm, as shown in Figure 10(b). e experimental results demonstrate the power of the proposed control system in the applicability of bipedal robotic standing balance
Summary
A vast variety of bipedal robots have been created to help humans and they have been applied to a myriad of social applications, such as military training, medical services, industrial manufacturing, and other fields [1]. En, the variable impedance control based on artificial muscle activation for bipedal robot balance was proposed. 2. Methods e proposed variable impedance control method is used to estimate the ankle desired torque (τq) for bipedal robotic standing balance control. The proposed variable impedance control method is composed of three vital components: a dynamic model to estimate the dynamic torque (τr), an ankle impedance model to calculate the disturbance torque (τe), and an impedance adjust component to update the impedance parameters based on artificial muscle activation model. According to equations (1), (3), and (5), the bipedal robotic standing balance ankle dynamic model can be described as τr I€θ − mgl sin θ,.
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