Design and Control of a Multi-Locomotion Parallel-Legged Bipedal Robot

摘要

This article mainly introduces a dynamically stabilized and balanced point-footed bipedal robot, which we named MPLBR (Multi-locomotion Parallel-Legged Bipedal Robot). The robot structure is designed with a symmetric architecture, including six motors and a five-link double crank mechanism for extending the legs. Based on the inverted pendulum model, a robot control process framework is proposed using the virtual model control (VMC) algorithm and the decoupling balance control algorithm, combined with robot gait planning and state detection, to achieve stable walking and hopping control of the robot. Through simulation experiments and physical prototype experiments to verify the algorithm, the robot can achieve stable walking control and bounce motion modes.