A Bionic Bipedal Balancing Control Based on Control Priority and Target Attitude Adjustments

To achieve rapid balance recovery of humanoid robots under external shocks, a bionic bipedal balance control approach based on control priority and target attitude adjustment was developed. In order to successfully restore equilibrium, the system first automatically modifies the control priority based on the impact magnitude and stability margin. This means that when the center of mass approaches the support border, it receives a higher attitude control priority. Second, the discriminating mechanism for the shock confrontation and balance recovery stages was designed, and the target attitude of the robot’s centroid of mass was modified appropriately for each stage. The optimum three-dimensional force at the foot end was then obtained by combining MPC’s state prediction in the future time domain with a quadratic programming solution, allowing the robot to quickly restore its equilibrium after being disturbed by the external environment. External force striking test were conducted on flat and irregular ground while the robot was standing bipedally. The results suggest that the proposed strategy can improve the robot’s ability to withstand stronger external shocks and swiftly recover balance following external hits.