On the stabilization of a biped walking robot model with circular arced soles

摘要

We made a biped walking robot model with circular arced soles which corresponds to a tumbler system with rotational joints and legs. The stabilization of a standing posture of the tumbler system was realized by using a small gyroscope. The stabilizing control system is composed of a on input two output (SIMO) feedback system. This paper describes the analysis and design of the feedback system, which controls the posture by the support of one leg and the drive of the crotch joints of the free leg. In addition, the dynamic stabilization of the locomotion by changing the support leg will be studied in this paper. The results of our experiment and computer simulation show that the posture of the robot model can be maintained and the locomotion will be stably sustained.