Virtual Model Based Adaptive Dynamic Control of a Biped Walking Robot

The robustness of bipedal walking robots can be enhanced by the use of adaptive control techniques. In this paper, we extend a previous control approach. "Virtual Model Control" (VMC) [6] to create "Adaptive Virtual Model Control" (AVMC). The adaptation compensates for external disturbances and unmodelled dynamics, enhancing robustness in the control of height, pitch, and forward speed. The state machine used to modulate the virtual model components and to select the appropriate virtual to physical transformations (as in traditional VMC) is also used to inform the adaptation about the robot's changing configuration. The design procedure for AVMC is described in this paper and simulation results are presented for a planar walking biped.