Adaptive compliant control of humanoid biped foot with elastic energy storage

Abstract

How to minimize landing impact is a challenging research topic in humanoid locomotion. In this paper, we propose a biomimic design of humanoid biped foot with elastic energy storage aiming to reduce the impact when the foot of swing leg landing on the ground and conserve the energy that is used to be dissipated as a result of foot collide. An adaptive compliant control strategy is proposed to control the robot walking smoothly without an exact velocity control of landing foot. The proposed elastic energy storage mechanism and its control approach are used to enhance the dynamic walking capability of biped robot. The effectiveness of the proposed biomimic foot model design is verified by simulation results.