Adaptive Virtual Mode Control for Adaptive Dynamic Walking of Bipedal Robots on Uneven Terrain Conditions

Efficient locomotion control in uneven terrain environments is the essential function for bipedal robots’ off-road application. This paper presents a adaptive fuzzy-virtual-model controller for stable walking management of bipedal robots in uneven terrain environments. The proposed controller incorporates the fuzzy logic mechanism that allows dynamic adjustment of robot's virtual control parameters for the swing leg according to the kinematic state, which devote to achieve a efficient tracking control for the swing leg ’s movement. Simulation result shows that the proposed controller can traverse through the typical uneven terrain while maintaining an average speed of 0.5 m/s.