Abstract
In order to obtain the stable gait of lower limb exoskeleton robot, a gait generation method with zero force distance point (ZMP) compensation of preview control is proposed. According to the 3D linear inverted pendulum model and preview control theory, the inverted pendulum model is compensated by using the error between the actual ZMP and the target ZMP, and the centroid trajectory of the robot is planned, so that the three-dimensional linear inverted pendulum compensated ZMP preview control model has better ZMP tracking effect. Through programming and Simulation in Python, the effectiveness of the improved preview control and ZMP compensation optimization method to improve the inverted pendulum model is verified, and the stability margin of the lower limb exoskeleton robot in the walking process is improved.
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