Contact impact inhibition strategy for biped robot walking based on central pattern generator

摘要

Biped robot has exceptional obstacle negotiation capability and great potential applications in military, rescue and space exploration. However, an instantaneous impact will happen when the swing foot of the biped robot contacts with the ground, which easily causes damage to the drive mechanism and robot instability. This paper proposes a rhythmic control method based on central pattern generation (CPG) to overcome the contact impact and improve the locomotion stability of the robot. The dynamic model of a seven-link planar biped robot is established. And the discontinuous contact constraint and contact impact process of the foot are analyzed. A CPG network with joint angle velocity feedback signal is put forward to control the robot to achieve stable walking. Simulation studies show that the proposed method can effectively reduce the impact of foot contact and improve the robot locomotion stability. The results are promising for the design of the biped robot control strategy.