Artificial Leg Design and Control Research of a Biped Robot with Heterogeneous Legs Based on PID Control Algorithm

摘要

A biped robot with heterogeneous legs (BRHL) is proposed to provide an ideal test-bed for intelligent bionic legs (IBL). To make artificial leg gait better suited to a human, a four-bar mechanism is used as its knee joint, and a pneumatic artificial muscle (PAM) is used as its driving source. The static mathematical model of PAM is established and the mechanical model of a single degree of freedom of a knee joint driven by PAM is analyzed. A control simulation of an artificial leg based on PID control algorithm is carried out and the simulation results indicate that the artificial leg can simulate precisely a normal human walking gait.