Semi-active stable landing control for biped robot by using switching control

摘要

For stable landing motion control of biped robot, a new method using switching control is proposed. The biped robot is with Magenetorhelogical damper based soft driving package. Vibration often occurs in the landing phase of swing foot or unexpected contacting arising abruptly. The residual vibration arising from ground reaction force decreases the safety of biped walking. Firstly, walking gait of the biped robot is analyzed. Then Magenetorhelogical damper is introduced into joint structure to realize vibration suppression by physical mean. And a damping control method for vibration suppression is described. Control structure of joint with elasticity and MR damper is discussed. The strategy could provide reliable suppression effectiveness. Then the switching control method is established by position controller, damping controller and switching terms. Finally, a simulation is implemented to verify the effectiveness of the proposed landing control method.