Journal of Jilin University(Engineering and Technology Edition) ›› 2024, Vol. 54 ›› Issue (12): 3711-3716.doi: 10.13229/j.cnki.jdxbgxb.20231307

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Dynamic attitude stability control method for biped walking robot based on differential equations of motion

Chun-yan ZHAO(),Jing-chun PENG   

  1. College of Science，Heilongjiang University of Science and Technology，Harbin 150022，China
  • Received:2023-11-28 Online:2024-12-01 Published:2025-01-24

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Abstract:

In order to maintain a stable dynamic posture during the operation of biped walking robots and complete work tasks with high efficiency， a motion differential equation based dynamic posture stabilization control method for biped walking robots was proposed. Firstly，establish a biped walking robot model， determine its coordinates in the world coordinate system and rigid coordinate system， and express them in the form of homogeneous coordinates； Secondly，the dynamic attitude stability controller of biped walking robot is constructed， and the differential equation of motion is introduced to constrain the dynamic attitude of the robot， so that it can remain stable in any constrained surface；Finally，compared with the other two algorithms， the experimental results show that the proposed method is highly feasible and reasonable. Compared with other algorithms， the proposed method has better self-balancing ability， anti-interference ability and dynamic attitude stability control ability.

Key words: differential equations of motion, dynamic attitude stability control, rigid body coordinate system, world coordinate system, constrain surfaces

CLC Number: 

  • TP25

Fig.1

Biped walking robot model"

Fig.2

Schematic diagram of the pose coordinates of the linkage motion of a bipedal walking robot"

Fig.3

Comparison results of inclination angle errors among three algorithms"

Fig.4

Anti interference recovery time of three algorithms"

Fig.5

Schematic diagram of experimental slope environment"

Fig.6

Inclination amplitude of three algorithms in a slope environment"

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