A simple walking strategy for biped walking based on an intermittent sinusoidal oscillator

作者：Fu, Chenglong^*; Tan, Feng; Chen, Ken

来源：Robotica, 2010, 28(06): 869-884.

DOI：10.1017/S0263574709990713

• Biped walking
• Intermittent oscillator
• Sensory feedback
• Bifurcation suppressing

This paper presents a control algorithm for biped walking by extension of previous work in the fields of central pattern generator (CPG) and passive walking. The algorithm takes advantage of the passive dynamics of walking, assisting only when necessary with an intermittent sinusoidal oscillator. The parameterized oscillator is used to drive the hip joint; the triggering and ceasing of the oscillator during a walking cycle can be modulated by the sensory feedback. The results from simulation indicate a stable, efficient gait, and robustness against model inaccuracy and environmental variation. We also examine the effects of oscillator parameters and link parameters on the gait, and design a controller to suppress the bifurcation phenomenon based on the error of prior step periods.

• 出版日期2010-10
• 单位清华大学