Patent ID: 11858138
Assignee: ZHEJIANG UNIVERSITY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 1:
2. The method for realizing the dynamic running gait of the biped robot on the rough terrain road according to claim 1, wherein in the balance control of the body posture of the robot, a PD control is introduced to maintain the posture angle of a body trunk of the biped robot to be near a stable range, the balance control of the body posture is set as follows:

τh=Kp(qd−q)+Kd({dot over (q)}d−{dot over (q)})+τf,

where τh denotes a balance torque of the torso; qd denotes a desired body posture angle; q denotes a body posture angle; {dot over (q)}d denotes a desired body posture angular velocity; {dot over (q)} denotes a body posture angular velocity; Kp and Kd respectively denote corresponding feedback coefficient matrices that are related to an actual biped robot platform, and respectively denote a proportion coefficient and a differentiation coefficient; and τf denotes a feedforward torque generated by a gravity of the center of mass applied on a hip joint of the supporting leg.