Biped Robot Control System Based on Adaptive Gain Energy Control with Angle Invariant
The walking motion state of biped robot with knee is analyzed, the system model is established based on the walking phase; for the stability of passive walking gait is poor, The limit cycle convergence domain is smaller and sensitive to interference. Energy control and angle invariant control is merged, A steady gait is produced at different angles on the ground by the angle invariant control, the gait limit cycle convergence domain is expanded by the energy control method, the energy control gain is adjusted by nonlinear function. The simulation result shows that the method can expand the limit cycle convergence domain and increase the robustness.
Helen Zhang, Gang Shen and David Jin
D. J. Liu et al., "Biped Robot Control System Based on Adaptive Gain Energy Control with Angle Invariant", Advanced Materials Research, Vols. 225-226, pp. 540-545, 2011