Modeling and Motion Control of Hydraulic Biped Robot

Abstract:

The foot robot has a good adaptability to terrain and hydraulic drive has a great power to weight ratio compared with other drivers, therefore, a hydraulically actuated biped robot is proposed to meet the need for the high flexibility and high load capability, and each leg has four degrees of freedom. According to the proportion of human leg, the leg mechanism of biped robot is designed .A kind of simplified structure of the hydraulic biped robot is put forward based on the analysis of the structure. The model of the leg is established by Lagrange equation to obtain the corresponding dynamic model; the model of the hydraulic system is established according to the hydraulic control theory; the whole model of the leg is obtained combined with the two models. The variable structure control is suitable for the complex high-order control system, keeps invariant for external disturbance and parameter changes, and easily implements the control algorithm on-line, so the variable structure control is used to study on the motion control of the robot. The simulation is executed in Matlab software, which verifies that the mechanical structure is reasonable and the control algorithm is effective.

• Periodical: Key Engineering Materials (Volume 620)
• Pages: 496-501
• DOI: https://doi.org/10.4028/www.scientific.net/KEM.620.496
• Online since: August 2014
• Authors: Jun Peng Shao*, Bing Wei Gao, Jian Ying Li
• Keywords: Biped Robot, Dynamic Model, Hydraulic Drive, Variable Structure Control

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