Authors: Wang, Fei; Wu, Chengdong; Xu, Xinthe; Zhang, Yunzhou

Source: Industrial Robot: An International Journal, Volume 36, Number 5, 2009 , pp. 503-512(10)

Publisher: Emerald Group Publishing Limited

Abstract:

<B>Purpose</B> - The purpose of this paper is to present a coordinated control strategy for stable walking of biped robot with heterogeneous legs (BRHL), which consists of artificial leg (AL) and intelligent bionic leg (IBL). <B>Design/methodology/approach</B> - The original concentrated control in common biped robot system is replaced by a master-slave dual-leg coordinated control. P-type open/closed-loop iterative learning control is used to realize the time-varying gait tracking for IBL to AL. <B>Findings</B> - The new control architecture can simplify gait planning scheme of BRHL system with complicated closed-chain mechanism and mixed driving mode. <B>Research limitations/implications</B> - Designing and constructing a suitable magneto-rheological damper can greatly improve the control performance of IBL. <B>Practical implications</B> - Master-slave coordination strategy is suitable for BRHL stable walking control. <B>Originality/value</B> - The concepts and methods of dual-leg coordination have not been explicitly proposed in single biped robot control research before. Master-slave coordinated control strategy is suitable for complicated BRHL.

Keywords: Control technology; Motion; Robotics

Document Type: Research article

DOI: http://dx.doi.org/10.1108/01439910910980231

Publication date: 2009-08-21

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