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Research on adaptive impedance control strategy for humanoid walking in unstructured dynamic environment

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Abstract

Adaptability and robustness are the important expressions of intelligent walking ability of humanoid robots. However, they may be in an unstable state due to the huge impact contact forces produced by foot instant landing. This paper is concerned with the problem of dynamical biped walking and robust control of humanoid robots under ground reaction forces (GRF). In order to imitate human’s muscles to absorb the landing force, the robotic system is modeled as a mass–damp–spring model. The novelty of the article lies in the use of impedance control based on ground reaction forces, which deals with the complicated optimization problem subjected to both equality and inequality constraints. A feedback controller is designed to utilize inertial damping to generate the desired motion trajectory of the robot. The constructing autonomous evolution mechanism is mentioned to realize adaptive optimization of walking model. It ensures that the impact of GRF and reinforce stability during transition from single support phase to double support phase. Finally, the effectiveness of the proposed method is verified by simulations.

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Funding

This work is supported by National Natural Science Foundation of China (No. 61733013; No. 61573260; No. 62073245; No. U1713211).

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Authors and Affiliations

  1. Department of Electrical and Electronic Engineering, Shanghai Institute of Technology, No. 100 Haiquan Road, Fengxian District, Shanghai, China

    Helin Wang

  2. Department of Control Science and Engineering, Tongji University, No 4800 Cao’an Road, Jiading District, Shanghai, China

    Qijun Chen

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  1. Helin Wang
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Contributions

Helin Wang made substantial contributions to conception and design of the study and performed data analysis and interpretation. Helin Wang and Qijun Chen performed data acquisition, as well as providing administrative, technical, and material support. All authors reviewed the manuscript.

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Correspondence to Helin Wang.

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Wang, H., Chen, Q. Research on adaptive impedance control strategy for humanoid walking in unstructured dynamic environment. Int J Intell Robot Appl 8, 574–582 (2024). https://doi.org/10.1007/s41315-024-00365-8

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