Research On Bipedal Robot Running And Hopping And Balance Control

Robot is one of essential inventions in human history.The human beings consistently research about the bipedal robot People keep trying to endow robot human like appearance and athletic ability which is approximate to,even superior to human.Nevertheless,the legged structure brings difficulties in control.Most humanoid robots and bipedal robots can succeed in walking but fail in running and jumping.So how to make robot run and jump stably becomes the key to break the confine on bipedal robot.This research designed and tested the control algorithm for bipedal robot running and jumping gait and control algorithm for balance which are based on 2D and 3D bipedal robot.Besides,this research also did experiments on steering control and obstacle crossing control.The control algorithms also provide reference to robot design.The research work mainly contributes to following areas:1)Bipedal robot jumping control.We built dynamics model,achieved periodical jumping motion on bipedal robot.The jumping motion generated mid-air phase which is the basis of running gait.2)Bipedal robot balance control.We achieved balance control on torso rod in jumping motion to keep stable posture.In the meanwhile we designed decoupled algorithm and extended balance control to 3D.3)Bipedal robot rurnning control.We achieved velocity control via foot placement control.This part mainly consisted of velocity estimation,velocity control model and online linear regression.4)Bipedal robot steering control and obstacle crossing.We achieved steering control via leg length adjustment,ankle torque adjustment and torso rotation.We also made 10cm height obstacle crossing action.