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A walking control strategy combining global sensory reflex and leg synchronization

Published online by Cambridge University Press:  31 July 2014

Chenglong Fu ,
Jianmei Wang ,
Ken Chen ,
Zhangguo Yu  and
Qiang Huang
Chenglong Fu*
Affiliation:
State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
Jianmei Wang
Affiliation:
State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
Ken Chen
Affiliation:
State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
Zhangguo Yu
Affiliation:
Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Beijing 100081, China
Qiang Huang
Affiliation:
Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Beijing 100081, China
*
*Corresponding author. E-mail: fcl@tsinghua.edu.cn
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Summary

Biped walking can be regarded as a global limit cycle whose stability is difficult to verify by only local sensory feedback. This paper presents a control strategy combining global sensory reflex and leg synchronization. The inverted pendulum angle is utilized as global motion feedback to ensure global stability, and joint synchronization between legs is designed to stabilize bifurcations. The proposed strategy can achieve a stable gait and stabilize bifurcations. The robustness of this approach was evaluated against external disturbances. Walking experiments of a biped actuated by pneumatic muscles were conducted to confirm the validity of the proposed method. Instead of tracking predetermined trajectories, this method uses sensory reflexes to activate motor neurons and coincides with the biological idea wherein inessential degrees-of-freedom are barely controlled rather than strictly controlled.

Keywords

Biped locomotionWalking controlGlobal sensory reflexLeg synchronization
Type
Articles
Information
Robotica , Volume 34 , Issue 5: RAAD , May 2016 , pp. 973 - 994
Copyright
Copyright © Cambridge University Press 2014 

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