Variable Impedance Control for Bipedal Robot Standing Balance Based on Artificial Muscle Activation Model

Abstract

The bipedal robot should be able to maintain standing balance even in the presence of disturbing forces. The control schemes of bipedal robot are conventionally developed based on system models or fixed torque-ankle states, which often lack robustness. In this paper, a variable impedance control based on artificial muscle activation is investigated for bipedal robotic standing balance to address this limitation. The robustness was improved by applying the artificial muscle activation model to adjust the impedance parameters. In particular, an ankle variable impedance model was used to obtain the antidisturbance torque which combined with the ankle dynamic torque to estimate the desired ankle torque for robotic standing balance. The simulation and prototype experimentation results demonstrate that the control method improves the robustness of bipedal robotic standing balance control.

Robust Hybrid Controller Design to Stabilise an Underactuated Robot Vehicle under Various Input

“…Te IP systems have been extended and become more complicated with multiple rods which provides much fexibility [8], such as double IP [9][10][11] and triple IP [12][13][14][15]. Many pieces of research focused on applications based on IP systems, such as the Segway robot [16][17][18], the two wheelchairs [19][20][21], simple walking models [22], and the bipedal robot based on IP [23,24].…”

Adaptive ankle impedance control for bipedal robotic upright balance

“…First, the bipedal robots often work in an unstructured environment, with the presence of various uncertain external disturbances. Second, a bipedal robot is of a relatively high Centre of Mass (CoM) and equipped with a relatively small base of support for flexible movement (Yin et al, 2021). Therefore, effective upright balance control of bipedal robots represents one of the main challenges in the field of bipedal robotic research (Rajasekaran et al, 2015).…”