Legged robots are dynamic moving machines that are potentially able to traverse through rough terrain which is inaccessible for wheeled or tracked vehicles. For bipedal robots, balancing control while hopping/running is challenging, especially when the foot contact area is small. Servo hydraulics is highly suitable for robot leg actuation due to its high power density and good power-to-weight ratio. This paper presents a controller for a hydraulically actuated bipedal robot, the Bath Bipedal Hopper (BBH). The controller follows the well-established structure of the ‘Three-part’ control algorithm. The three parts are: Hopping height control; longitudinal velocity control by changing the leg angle during the flight phase to place the foot in the desired position; and body attitude correction during the stance phase. Simulation results from a detailed non-linear model indicate that this controller can successfully balance the hydraulic robot while hopping with different longitudinal velocities.
CITATION STYLE
Ding, B., Plummer, A., & Iravani, P. (2019). Investigating Balance Control of a Hopping Bipedal Robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 11649 LNAI, pp. 171–182). Springer Verlag. https://doi.org/10.1007/978-3-030-23807-0_15
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