Stability Control of Inertial Assisted Biped Robot

Abstract

Proposed inertial assist method may be useful for passive dynamic biped as well as human walking, where they have a natural self-undulation cycle and basic dynamic stability. An assist can enlarge the forward swing motion of the leg and also a sideways undulation of whole body. However, enlarged motion may lower the original stability. This paper tries to make an adjustment of assist timing and strength to produce a stability by a control based on sensing information. Experimental result shows that assist timing adjustment with laser measurement of swing leg height can make up a stability such as a conversion of stepping cycle time. To produce a large assist torque, a control momentum gyro is introduced on the biped. A cycle time and sideways undulation span is enlarged by gyro system controlled by laser measurement.