Robust Control for Stable Dynamic Walking of Biped Robot

摘要

This paper designs a robust controller with modeling uncertainties and external disturbance for stable dynamic walking of biped robot. The method of multibody dynamics is applied to construct the equations of motion for the complicated biped robot system with both structured and unstructured uncertainties, and the normal model of the system was taken into account. Then, the optimized trajectories were obtained using the improved hereditary algorithm. Finally, trajectory tracking of dynamic walking robot is controlled by robust control method. It is proved by simulation result that robust control method can effectively restrain the effect of model uncertainties and external disturbance acting on biped robot, and can provide a powerful safeguard for the robot system