Design and Implementation of an Underactuated Biped Robot Prototype on Compliant Ground

Considering the influence of the actual compliant grounds on the stable walking of the underactuated robot, a prototype of the planar underactuated biped walking robot is designed in this paper, and the simulation and experiment are carried out. Firstly, a biped robot model is established, and the compliant ground is equivalent to a spring-damping system. An adaptive feedforward control strategy is adopted to realize stable underactuated walking by controlling the robot's centroid velocity. Then, according to the control strategy, a 600mm high, 5.62kg weight planar underactuated robot prototype was produced, including the mechanical structure and software system. Finally, the underactuated walking with the step size of 0.1839m is realized through simulation and robot prototype experiment. The experimental results show that the robot prototype designed in this paper can carry out underactuated walking on different compliant grounds.