Humanoid Robot Walking Control Based On Visco-elastic Response And Phasic Feedback In Animal’s Movement

Stable walking is an important research area of humanoid robots, and it has fruitfulachievements. But because of the planned walking environment not the same as the realwalking environment, the robot which uses planned patten may not walk well. So in order toimprove its walking stability, this theis presents a stable walking control method based onanimal’s visco-elastic response and phasic feedback in motions.In this theis, visco-elastic response and phasic feedback which widely exists in animalsis firstly studied, they present significant effects on stable walking for animals. Then itseffects in humans’ walking are studied, on account of which this paper presents a stablewalking method includes flexible control based on visco-elastic response and patten phasicmodification control based on phasic feedback.To realize visco-elastic response on a humanoid robot, the author illustrates the realizingmethod, establishes a humanoid model, and calculates its kinematics. Based on the above,the author presents a humanoid’s swing leg flexible landing method, to realize the flexibleresponse on the humanoid robot.To realize phasic feedback on a humanoid robot, the author presents a patten phasicmodification method and a robot posture adjustment method, including phasic accelerationand phasic delay. Dynamics is calculated to offer the math basis for the control method.Finally, the effects of the control method are verified by experiments taken on thehumanid platform BHR-5.