Dynamic control strategy of a biped inspired from human walking

In this paper, we show that a biped robot can walk dynamically using a simple control technique inspired from human locomotion. We introduce four critical angles that affect robot speed and step length. Our control approach consists in tuning the PID parameters of each joint in each walking phase fo...

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Bibliographic Details
Main Authors: Serhan, H., Henaff, P., Nasr, C., Ouezdou, F.
Format: Conference Proceeding
Language:English
Subjects:
Biological control systems
Centralized control
Humans
IEEE members
Legged locomotion
Optimal control
Oscillators
Robots
Three-term control
Tuning
Online Access:Request full text
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Description
Summary:In this paper, we show that a biped robot can walk dynamically using a simple control technique inspired from human locomotion. We introduce four critical angles that affect robot speed and step length. Our control approach consists in tuning the PID parameters of each joint in each walking phase for introducing active compliance and then to increase stability of the walk. We validated the control approach to a dynamic simulation of our 14DOF biped called ROBIAN. A comparison with human walking is presented and discussed. We prove that we can maintain robot stability and walk cyclepsilas repetition without referencing a predefined trajectory or detecting the center of pressure. Results show that the walk of the biped is very similar to human one. A power consumption analysis confirms that our approach could be implemented on the real robot ROBIAN.
ISSN:2155-1774
2155-1782
DOI:10.1109/BIOROB.2008.4762797