Gait detection based stable locomotion control system for biped robots

摘要

It is a challenge to maintain a steady and stable locomotion when a biped robot navigates an uneven surface or a step. Firstly it needs to detect the gait of the robot and related environmental objectives, and then to perform appropriate controls of stable locomotion. In this paper, a new type of sensing module with flexible force is designed to be mounted under the robotic sole to measure the foot pressure map which is essential for the analysis of zero moment point (ZMP) to assist the biped robot to detect the gait conditions. In addition, a neuro-fuzzy control scheme is also proposed to control the ZMP trajectories and relative balancing by integrating the data of a 3-axis gyroscope to adaptive posture. The experimental results show that the designed control system has improved the biped robot adaptive ability to overcome landform changes and the stability of locomotion while standing or walking on uneven terrain.