Development of control system in a biped robot with heterogeneous legs

This paper discusses how a biped robot with heterogeneous legs imitates a person's walking from gait design, gait planning and gait control. A biped robot with heterogeneous legs(BRRL) robot consists of an artificial leg and an intelligent bionic leg. The purpose of this robot's design is to make the intelligent bionic leg follow the artificial leg's movement, which provides an excellent platform for the research of intelligent prosthetic leg. After the introduction of gait design and gait planning, a semi-active kneel control method is proposed for magneto-rheological (AIR) damper in the intelligent bionic leg. And an overall control system scheme is presented. Simulative and practical system experiments prove the validity of the presented plan and proposed algorithm.