Stable Gait Generation of Impaired Biped Robot with Reaction Wheel

Abstract

In this paper, we propose two methods for stable gait generation of a biped robot with damaged motor on one-side. First, we derive the dynamics and control method. Only single control torque between the hip and one leg is applied by reaction wheel or one more reaction wheel act on damaged leg. Second, we numerically show the period-2 gait of this dynamic walking. Finally, the gait properties are analyzed via parametric study. The results show that by adjusting the target control time for the actuated swing/stance leg separately and appropriately with only one input, the impaired biped robot can walk steadily. Add one more reaction wheel on the damaged leg, Not only steady-state gait of the robot can be generated, but also its stride length and walking speed can be controlled. Consequently, the potential barrier can be overcome successfully.