Gait Tracking Control of Machine Leg Based on Damping Torque Feedback Control

Pengfen Huang, Xinghua Lu, Weipeng Huang, Ziqian Li

Abstract

The machine leg is affected by the damping of the joint part when walking in the bionic gait, which leads to the poor global stability. A gait tracking control method for machine legs based on damping torque feedback regulation is proposed. Kinematics analysis of the kinematics equation of the machine leg is constructed by three-axis coordinate system model. The adaptive optimization of the step sensing information of the robot leg with the parameters of the gait motion and the damping torque as the constraint index. An inverse stabilization control method is introduced to modify the error feedback of the gait tracking parameter of the machine leg. The feedback adjustment of damping torque is realized by combining the nonlinear adaptive inversion integral method, and the gait stability tracking control of the machine leg is realized. The simulation results show that using this method to track gait control of machine legs, the walking performance of machine legs is good, the tracking accuracy of attitude parameters is strong, and the attitude error is small.

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Paper Citation


in Harvard Style

Huang P., Lu X., Huang W. and Li Z. (2018). Gait Tracking Control of Machine Leg Based on Damping Torque Feedback Control .In 3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: ICECTT, ISBN 978-989-758-312-4, pages 541-545. DOI: 10.5220/0006974005410545


in Bibtex Style

@conference{icectt18,
author={Pengfen Huang and Xinghua Lu and Weipeng Huang and Ziqian Li},
title={Gait Tracking Control of Machine Leg Based on Damping Torque Feedback Control },
booktitle={3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: ICECTT,},
year={2018},
pages={541-545},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006974005410545},
isbn={978-989-758-312-4},
}


in EndNote Style

TY - CONF

JO - 3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: ICECTT,
TI - Gait Tracking Control of Machine Leg Based on Damping Torque Feedback Control
SN - 978-989-758-312-4
AU - Huang P.
AU - Lu X.
AU - Huang W.
AU - Li Z.
PY - 2018
SP - 541
EP - 545
DO - 10.5220/0006974005410545