Simulation of biped robot with heterogeneous legs controlled by magneto-rheological damper

摘要

Magneto-rheological damper has great potential in semi-active control and is newly applied in the biped robot with heterogeneous legs(BRHL).First the reason to the choice of MR damper for bionic leg is given and the Sigmoid model with modification is established in the article.Then the optimal design of fixing location for MR damper is given.In the end,the article gives the optimal simulation of gait following and the simulation of iterative learning control.The results indicate the bionic leg with MR damper can follow the gait of artificial leg well and has good humanoid characteristic.