The problem of walk control of a biped robot is considered. Theinertial robot parameters are assumed unknown and control actions areapplied only twice during one step. The control aim is for robot walkingwith a given average speed without falls and jumps; a desired trajectoryis not given. A two-level control method is designed and theoreticallyjustified. The lower level is an adaptation block based on the recurrentaim inequality method. The higher level is a “trajectorycalculating” block using the original global optimization method.The results of computer simulation confirm the necessity of adaptivecontrol and efficiency of the algorithms
展开▼
