Walking dynamic control under unknown perturbation

摘要

We propose an approach which ensures the walking dynamic stability of a biped robot under unknown perturbation. It is based on the dynamic control scheme previously developed by Gorce (1994). This latter has been used to ensure the dynamic postural control, and more specially to ensure the dynamic stability under perturbation effect. The walking approach considered can be decomposed into two points: 1) the constraints and criterion optimization rely on the support phases change and the contact made periodically with the environment during the landing phase; and 2) the dynamic stability of the biped is maintained when an external perturbation appears. We deal with a voluntary perturbation (object elevation), and involuntary perturbation (external force applied on the trunk in the sagittal plan). An experimental protocol has been developed. Simulations of the biped walking under perturbation are realized.