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<p>This paper presents a standing balance control strategy for point-foot biped robots, utilizing the linear quadratic regulator (LQR) method. The parallel-leg robot system is simplified into an inverted pendulum model with a flywheel. An LQR-based control algorithm is proposed to determine the optimal control input for this model. The virtual model control (VMC) algorithm is then used for torque control of the robot’s active joints, ensuring balance in its standing posture and resilience to external disturbances. Simulations and physical prototype experiments demonstrate that the proposed control algorithm achieves stable standing in point-foot biped robots, offering a solution for balanced standing.</p>

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Design and control of standing balance of a point-foot parallel-legged biped robot

  • 期刊论文

  • 发表日期：

    2025年7月8日

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  • Ruchao Wang,
  • Zhiguo Lu,
  • Yinhe Xiao

摘要

This paper presents a standing balance control strategy for point-foot biped robots, utilizing the linear quadratic regulator (LQR) method. The parallel-leg robot system is simplified into an inverted pendulum model with a flywheel. An LQR-based control algorithm is proposed to determine the optimal control input for this model. The virtual model control (VMC) algorithm is then used for torque control of the robot’s active joints, ensuring balance in its standing posture and resilience to external disturbances. Simulations and physical prototype experiments demonstrate that the proposed control algorithm achieves stable standing in point-foot biped robots, offering a solution for balanced standing.