Abstract
For collaboration of humans and bipedal robots in human environments, this paper proposes a stability control method for dynamically modifiable bipedal walking using a capture point (CP) tracking controller. A reasonable reference CP trajectory for the CP tracking control is generated using the real-time zero moment point (ZMP) manipulation without information on future footstep commands. This trajectory can be modified at any time during the single support phase according to a given footstep command. Accordingly, this makes it possible for the robot to walk stably with dynamically modifiable walking patterns, including sudden changes in navigational commands during the single support phase. A reference CP trajectory during the double support phase is also generated for continuity. The CP of the robot is controlled to track the reference trajectory using a ZMP-based CP tracking controller. The ZMP while walking is measured by the force-sensing resistor sensors mounted on the sole of each foot. A handling method for infeasible footstep commands is utilized so that the manipulated ZMP satisfies the allowable ZMP region for stability. The validity of the proposed method is verified through simulations and experiments.
Highlights
IntroductionVarious approaches have been developed for stable walking pattern generation and control
Research on bipedal robots primarily focuses on achieving stable walking
Modifiable walking, a sudden commands were realized for the simulation of modifiable bipedal walking, including a adjustment of foot placement during the single support phase in which step lengthssudden were adjustment of foot placement during the single support phase in period which step lengths were independently independently changed while maintaining the same walking for each footstep
Summary
Various approaches have been developed for stable walking pattern generation and control One such approach generated a walking pattern by representing a bipedal robot as a simple three-dimensional (3-D) linear inverted pendulum model (LIPM) [1,2]. This method used the relationship between the center of mass (COM). 3-D LIPM, walking pattern generation methods have been developed using specific forms of ZMP trajectories to improve the walking abilities of robots [3,4,5]. Some approaches have generated walking patterns using ZMP manipulation to achieve real-time modifiable bipedal walking [6,7,8]
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