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A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground

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  • Yang Wang
  • Daojin Yao
  • Jie He
  • Xiaohui Xiao

Abstract

Both compliance and discontinuity are the common characteristics of the real ground surface. This paper proposes a stabilization method for the underactuated bipedal locomotion on the discontinuous compliant ground. Unlike a totally new control method, the method is actually a high-level control strategy developed based on an existing low-level controller meant for the continuous compliant ground. As a result, although the ground environment is more complex, the calculation cost for the robot walking control system is not increased. With the high-level control strategy, the robot is able to adjust its step-length and velocity simultaneously to stride over the discontinuous areas on the compliant ground surface. The effectiveness of the developed method is validated with a numerical simulation and a physical experiment.

Suggested Citation

  • Yang Wang & Daojin Yao & Jie He & Xiaohui Xiao, 2020. "A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground," Complexity, Hindawi, vol. 2020, pages 1-16, March.
    • Handle: RePEc:hin:complx:4764879
    DOI: 10.1155/2020/4764879
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