Control Strategy Research for a Biped Walking Robot with Flexible Ankle Joints

摘要

The traditional zero moment point (ZMP) control method is not suitable for underactuated biped robots. In this article, based on the computed torque method, the virtual constraint method and feedback linearization method are introduced into robot control to develop a joint control strategy for a biped robot with flexible ankle joints. Meanwhile, the traditional spline curve planning method of ankle joint and hip joint trajectory is no longer applicable to the biped robot. In this article, the time-invariant gait planning and gait stability of the robot are studied based on the principle of periodic walking. The effectiveness of the control strategy is verified by an experiment on the biped walking robot with flexible ankle joints.