Design and control of a bipedal upright natural walking robot based on a simplified model of virtual legs

We present the design and control method for a biped walking robot based on a simplified model with virtual legs. Addressing the development history of bipedal robot technology, the paper highlights current issues such as bulky structures, unstable gaits, and low energy efficiency. To tackle these challenges, a new bipedal robot structure using tendon-driven actuation is designed, along with a real-time gait generation and compensation algorithm based on Model Predictive Control (MPC). The table-cart model is used to simplify the dynamics, generating smooth gait motion patterns. Additionally, a posture error compensation system is designed to enhance walking stability. Simulation experiments validate the effectiveness of the proposed model and algorithm. The results demonstrate that the robot achieves stable joint trajectory tracking and posture during forward and lateral walking, confirming the feasibility and effectiveness of the proposed robot structure and control algorithm.