Structure Modeling and Iterative Learning Control Simulation of Biped Robot with Heterogeneous Legs

摘要

Biped robot with heterogeneous legs (BRHL) is a new pattern humanoid robot. The conception and research purpose of BRHL was detailed. Based on the idea of segmentation modeling, kinematics equations and dynamics equations were given. For the positive solution of the higher order differential-algebra equations, predictor-corrector numerical integration methods with error feedback control were proposed. In the end, the control method of BRHL was discussed and the simulation was given. The result indicates that the first order P-type open-closed loop iterative learning control can implement gait tracking well.