Advanced Flywheel-based Balance for Biped Robot Stably Walking

An advanced flywheel-based balance for biped robots is presented to follow the desired gait. Firstly, a dynamic model of hybrid biped-flywheel in walking is built. Then, a new balance controller is designed based on a flywheel located at the upper biped body, which is a closed-loop controller with the feedback signal being the tilt angle of the upper biped body related to the gravity acceleration to keep the biped body parallel to the ground exactly the desired gait. The PD+ controller is implemented whose parameters will be optimized using the multi-objective MO-Jaya algorithm. Eventually, proposed solution is successfully applied for the small-sized biped robot (HUBOT-4.1) to robustly walk in balance along with the desired gait. Simulation and experiment results prove that the proposed solution is effective