Analysis and control of biped robot with variable stiffness ankle joints

Abstract

BACKGROUND: Biped robot locomotion is an active topic of research, and the walking stability is one of the research objectives. OBJECTIVE: This paper discusses the variable stiffness ankle joint and the walking control of a biped robot. METHODS: A design is introduced that achieves the ankle joint variable stiffness by using a pneumatic unit. The actuation system of the biped robot is based on the hybrid use of electric and pneumatic. The locomotion control architecture has been proposed to exploit natural leg dynamics in order to improve the biped robot walking stability. We also present a dynamic simulation which matches the biped robot and experiments with the real biped robot. RESULTS: The simulation and experiments result that introducing the variable stiffness ankle joint and the controller achieve a significant improvement in foot-ground impact and walking stability of the biped robot. CONCLUSION: The biped robot with variable stiffness ankle joints has a better walking performance under the control method.