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Highly Dynamic Locomotion Control of Biped Robot with Swing Arms | IEEE Conference Publication | IEEE Xplore

Highly Dynamic Locomotion Control of Biped Robot with Swing Arms


Abstract:

The swinging motion of the arms plays a crucial role in improving the dynamic movement of humans by expanding their ability to control angular momentum, as viewed through...Show More

Abstract:

The swinging motion of the arms plays a crucial role in improving the dynamic movement of humans by expanding their ability to control angular momentum, as viewed through the lens of biomechanics. However, biped robot with human morphological structures rarely take full advantage of the swing arms, since there is no effective locomotion control strategy combining swing arms modeling and control reasonably suitable. In this paper, a control strategy is proposed for bipedal robots that incorporates swing arms in the process of achieving jumping motion. The strategy involves modeling, planning trajectories, and tracking movements to enhance the overall performance and stability of the robot. In this process, in order to extract characteristics of swing arms, biped robot is modeled as a flywheel-spring loaded inverted pendulum (F-SLIP), and whole-body controller (WBC) is chosen as the method of trajectory tracking to bring these characteristics into play. Simulation of jumping motion is implemented on a kind of biped robot Purple V1.0 designed for high explosive locomotion, and an well-established evaluation method of biped robot's highly dynamic locomotion is proposed which includes three aspects of agility, stability and energy consumption. Experiment results show this control strategy's effectiveness: agility is increased by a maximum of 6 %, stability is enhanced by an average of 30%, and energy consumption is reduced by an average of 15 %.
Date of Conference: 08-10 July 2023
Date Added to IEEE Xplore: 25 August 2023
ISBN Information:
Conference Location: Sanya, China

Funding Agency:


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