Abstract
The walking stability of a biped robot is affected by variable factors. A stable walking pattern for an electric-driven robot may not be stable for a hydraulic-electric hybrid robot due to the difference in the actuator’s control performance. Aiming at this issue, the influence of the actuator response characteristic on the biped robot walking stability was studied. The control error of the foot swing angle due to the different actuator response characteristics was analyzed. The walking stability criterion to determine the foot swing angle based on the ZMP method was proposed. Then, the maximum allowable control error was calculated. According to the calculation results, the optimization of the control loop to reduce the difference in response characteristics was introduced. The optimization performance was validated in simulation. The simulation results show that the method can improve the stability of the hybrid biped robot. This work provides an optimization basis for the robot drive control from the perspective of actuator response characteristics.
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Acknowledgment
The work presented in this paper is supported by the National Natural Science Foundation of China (Grant No. 52205076), the Key Research Project of Zhejiang Lab (No. G2021NB0AL03), China Postdoctoral Science Foundation (Grant No. 2022M712926), and the Youth Foundation Project of Zhejiang Lab (No. K2023NB0AA01).
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Zhao, P. et al. (2023). Walking Stability Analysis of Biped Robot Based on Actuator Response Characteristics. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14270. Springer, Singapore. https://doi.org/10.1007/978-981-99-6492-5_21
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DOI: https://doi.org/10.1007/978-981-99-6492-5_21
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