Principle and method of speed control for biped robots

In the present paper, a control method of speed regulation in dynamic walking for biped robots is proposed. First, principle of speed control by regulation of input energy is studied based on simplified model. The advantage is able to regulate the speed and the step length synchronically, which is inspired by the way of human walking. Second, a practical control method for a 13-link bipedal robot is developed. The method is constructed on the base of the 3D walking control method proposed previously, with the regulation of step length and the ground-push force being added. Results of simulation show that the performances of regular walking, acceleration, and deceleration are as good as expected, and therefore verify the feasibility of the proposed method. Furthermore, some walking features, such as the walking efficiency and lateral control, are investigated.