Disturbance observer-based balance control of robotic biped walkers under slip

Abstract

We present balance recovery control of bipedal robotic walkers under foot slip disturbance. A dynamic model is first presented to capture the bipedal locomotion under slip disturbance. Two different control approaches are presented: one is based on the feedback linearization and the second one uses the disturbance observer (DOB) method. The recovery strategies and profiles are designed through linear inverted models and inspired by human walking locomotion profiles. We present and compare the simulation results under both the feedback linearization- and DOB-based control designs.