Stable control strategy of the underactuated biped robot

This paper proposed stable control strategies based on lost balance degree (LBD) for the underactuated biped robot. First, underactuated biped robot dynamic model of supporting each leg is built. On this basis, according to exterior disturbance intensity of the system, movement of the underactuated biped robot will be divided into three stages based on LBD. In different stage, the corresponding dynamic models and switching controller between track, posture and gait are used. The simulation results show that this paper provides a stable, engineering practicality, control method in which it can meet the requirements of real-time control of underactuated biped walking robot gait.