Research on Quasi-passive Walking Control of Biped Robot With Variable Leg Stiffness

doi:10.16182/j.issn1004731x.joss.19-0005

Abstract

Abstract: The stable control of quasi-passive biped robot on level ground is studied. The bipedal spring-mass model of three degrees of freedom with variable leg stiffness is studied as the object, the force supplied by the variable stiffness spring and the force of the moment of inertia provided by the hip joint are applied as the walking power source, and the dynamic equations is established by Lagrange method. The force of the hip joint is designed on the basis of the PD controller and the rotation angle of the upper body is controlled. The controlled force produced by the variable spring stiffness of the biped robot at the single and double support stages are designed by the feedback linearization method. The simulation results show that the method can realize the stable periodic walking of biped robot in the plane and the robustness is strong.

Key words: quasi-passive, biped robot, variable stiffness, torque, feedback linearization

CLC Number:

TP242

Wu Qingqing, Zhang Qizhi, Zhou Yali. Research on Quasi-passive Walking Control of Biped Robot With Variable Leg Stiffness[J]. Journal of System Simulation, 2020, 32(8): 1588-1597.

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