INTEGRATING CAPTURE POINT INTO BIOLOGICALLY MOTIVATED CONTROLLED BIPED FOR MAINTAINING STABLE STATE

摘要

In nature, humans can always find a way to maintain the balance when there is an external push in a large magnitude. Most of present bipedal robots walk properly on the even terrain without any external disturbances. However, they cannot deal with the unexpected disturbance very well, such as, uneven terrain or abrupt strong push. The Capture Point 1,2 has been presented to compute the region on the ground where the bipedal robots must land so as to complete a safe stop. Except for the model-based control approaches, model free control methods have been recently researched, such as, a biologically motivated control for a biped has been researched by. 3,4 The integrated behavior-based control framework 5 has been as well included in this simulated biped which simplifies the complexity of control system in a large scale and enhances its adaptability to different environments. This paper will describe, firstly, how to establish the model of a linear double link inverted pendulum with a flywheel. Afterwards, the calculated torques will be integrated into the motor patterns of biologically motivated control to enhance the capability of the biped in more complex environments. Finally the simulation results will be demonstrated and analyzed.