Rhythmic-Reflex Hybrid Adaptive Walking Control of Biped Robot

摘要

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.