Biped walking robot control with passive walker model by new VSC servo

摘要

Passive walking on the slope is known as most efficiency and natural walking style because of no extra power without potential energy, and the motion occurs inherently according to its mechanical property. In this paper a walking control strategy which utilizes the dynamics of passive walking as a trajectory generator is introduced. A virtual model can generate walking pattern by being given the feasible initial state corresponding to the direction of virtual gravity field. And to enhance the robustability considering implementation new variable structure control(VSC) servo is proposed, and applied to the walking control. This VSC law is obtained as an integral form of sign function of a sliding mode. Hence there is less chattering which may damages to the mechanical components. Besides a discrete trajectory generator and a discrete estimater which are needed on digital implementation are mentioned too. The efficiency of the strategy is demonstrated by simulation.