Walking balance control for biped robot based on multi-sensor integration

摘要

This paper deals with walking balance control of biped robot inspired by biological concept of sensory integration. The control system is proposed with a trajectory generator and a walking balance controller. The inverted pendulum model is used to generate a more natural and energy efficient biped gait. The walking balance controller, which includes Kalman filter and fuzzy controller, is designed based on sensory fusion to keep the body balance and make the robot walking following the desired reference trajectory. A retrofitted biped platform Bioloid is used to validate the proposed balance control method. The experimental results confirm the effectiveness of the proposed control strategy.