Bio-inspired control of biped robot locomotion by anthropomorphic leg impedance modulation

摘要

The paper addresses control synthesis of anthropomorphic adaptive biped gait with humanoid robots walking on compliant support surfaces. Adaptive impedance control of biped robots with a bio-inspired modulation of leg impedance parameters based on motion capture experimental measurements is proposed in the paper. Moreover, a complementary fuzzy regulator of biped robot dynamic balance based on feedback upon dynamic reactions is implemented within the robot controller to maintain gait stability, too. Corresponding experimental motion capture measurements with human test subject are considered in the paper to acquire natural principles of human locomotion and principles of leg impedance modulation. Corresponding knowledge-based algorithm for leg impedance modulation and better adaptation to different ground support conditions is proposed and verified through simulation by use the model of a middle-size 36 DOFs humanoid robot MEXONE. Some characteristic closed-loop simulation results are given in the paper to verify advanced control performances.