SLIP-Based Control of Bipedal Walking Based on Two-Level Control Strategy

摘要: In this research, we propose a two-level control strategy for simultaneous gait generation and stable of planar walking the Assume The Robot Is A Sphere (ATRIAS) biped robot with unlocked torso, utilizing active spring-loaded inverted pendulum (ASLIP) as reference models. upper level consists an energy-regulating calculated using ASLIP model, producing ground reaction forces (GRFs) desired gait. lower controller, PID force controllers motors ensure tracking GRFs ATRIAS direct dynamics. Meanwhile, torso angle is controlled stably to make it able follow point mass template model. Advantages proposed include simplicity efficiency. Simulation results ATRIAS’s complete dynamic model show that controller can reject initial condition disturbances while generating steady motion.