Abstract
For the central pattern generation inspired biped walking control algorithm, it is hard to coordinate all the degrees of freedom of a robot by regulating the parameters of a neutral network to achieve stable and adaptive walking. In this work, a hybrid rhythmic–reflex control method is presented, which can realize stable and adaptive biped walking. By integrating zero moment position information, the walking stability can be improved on flat terrain. The robot’s body attitude information is used to modulate the control system in real-time to realize sloped terrain adaptive walking. A staged parameter evolution process is used to derive the parameters. Through the entrainment of the oscillatory network and the feedback information, the real-time joint control signals can be regulated to realize adaptive walking. The presented control strategy has been verified by using a biped robot restricted in sagittal plane and the experiments reveal that the robot can successfully achieve changing sloped terrain adaptive walking.
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Acknowledgments
This work was supported in part by the National Natural Science Foundation of China (Grant No. U1713211, 61673300), and Basic Research Project of Shanghai Science and Technology Commission (Grant No. 16JC1401200, 16DZ1200903), and Fundamental Research Funds for the Central Universities and Natural Science Foundation of Jiangsu Province (Grant No. BK20171250).
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Liu, C., Yang, J., An, K. et al. Rhythmic-Reflex Hybrid Adaptive Walking Control of Biped Robot. J Intell Robot Syst 94, 603–619 (2019). https://doi.org/10.1007/s10846-018-0889-2
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DOI: https://doi.org/10.1007/s10846-018-0889-2