This paper proposes a control scheme inspired by the biological equilibrium point hypothesis (EPH) to enhance the motion stability of large-size legged robots. To achieve stable walking performances of a large-size hexapod robot on different outdoor terrains, we established a compliant-leg model and developed an approach for adapting the trajectory of the equilibrium point via contact force optimization. The compliant-leg model represents well the physical property between motion state of the robot legs and the contact forces. The adaptation approach modifies the trajectory of the equilibrium point from the force equilibrium of the system, and deformation counteraction. Several real field experiments of a large-size hexapod robot walking on different terrains were carried out to validate the effectiveness and feasibility of the control scheme, which demonstrated that the biologically inspired EPH can be applied to design a simple linear controller for a large-size, heavy-duty hexapod robot to improve the stability and adaptability of the motion in unknown outdoor environments.

本文提出了一种基于生物平衡点假设（EPH）的控制方案，以提高大型有腿机器人的运动稳定性。为了实现大型六脚机器人在不同户外地形上的稳定行走性能，我们建立了腿部顺应性模型，并开发了一种通过接触力优化来适应平衡点轨迹的方法。柔顺腿模型很好地表示了机器人腿的运动状态和接触力之间的物理属性。自适应方法根据系统的力平衡和变形抵消作用来修改平衡点的轨迹。进行了在不同地形上行走的大型六脚机器人的几次实际实验，以验证该控制方案的有效性和可行性，