Sensory reflex control for a pneumatic biped robot

This paper presents a bionic control strategy for a pneumatic biped robot based on sensory reflexes. The proposed controller consists of a rhythm motion controller and a torso attitude controller. The rhythm motion controller is modeled as motor neurons and modulated by global motion feedback, joints coordination feedback and joint angle feedback. The torso attitude controller is designed to maintain a desired torso attitude. Simulation results show that the proposed walking strategy not only has the ability to suppress the bifurcation phenomenon, but also has a good robustness against unexpected external pushes. The effectiveness of the proposed method was confirmed by walking experiments of a planar biped robot which is actuated by pneumatic muscles.