Dynamic Balance Control of Biped Robot Using Optimized SLFNs

This paper proposes a dynamic balance control scheme for controlling biped robot to achieve better locomotion stability and energy efficiency. After analyzing the moment equilibrium conditions, a optimized control scheme is proposed to improve the control performance, which differs from those previously proposed schemes in that it additionally contains an optimized learning mechanism. Using optimized SLFNs to approximate the nonlinear relationship between ZMP error and CoM(Center of Mass) position and an online algorithm to correct ZMP error, the proposed control scheme exhibits a good control performance. The simulation results are provided to validate the proposed method.