Multi-Model Stability Control Method of Underactuated Biped Robots Based on Imbalance Degrees

摘要

In this paper, a stability control strategy for underactuated biped robots is proposed based on imbalance degree. The dynamic models of single-leg support of underactuated biped robots are firstly illustrated. Based on the external disturbance force strength of the system, the motion process of an underactuated biped robot is partitioned into three stages according to the imbalance degree. In different stages, corresponding dynamic models, tracking, gesture and gait switching control are adopted. Analysis of simulation result shows that the proposed underactuated gait control method is stable, practicable in engineering, and satisfies the real-time requirement.