Development and walking experiments for biped robot with flexible driven units

Abstract:

Compared to the rigid actuator robot, the flexible actuator robot can absorb some external shock and lead to stable biped walking. A 10 D.O.Fs(Degrees of Freedom) humanoid biped walking robot with the type of FDUBR-I is designed and developed. The flexible drive unit FDU-II drives the pitch D.O.F of the hip joint for FDUBR-I. The FDUBR-I control system including hardware and software is built, which makes the host computer on-line control the joints of FDUBR-I. The switched Ethernet including PC and two motion control cards are set up for real-time communication. The control system includes two control subsystems of tension feedback and joint closed-loop control for FDU-II. The FDUBR-I walking experiment has been finished to verify the application of the FDU-II and the effect of the viscoelasticity dynamic model feedback based joint closed-loop controller and the tension feedback controller. The robot can reach the speed of 0.1 km/h during the steady biped walking.