A walking stability controller with disturbance rejection based on CMP criterion and Ground Reaction Force feedback

Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking

“…3-massmodel [22]), we propose measurement-based estimation and compensation of beforehand unknown multi-body influences. Therefore, we estimate the vertical accelerationẑ = F z /m − g and the change in angular momentumL y = F x z − F z (x − p x ) (see [23]), where F = [F x , Fz] denotes the measured ground reaction force and p x is the measured ZMP. Inserting these estimates into the control law (17)- (18) returns the desired ZMP p x,d , which results in the stable closed-loop CP dynamics (19).…”

“…Lemma 1: Given a linear time-varying second order system in cascaded forṁ x 1 = −a(t)x 1 + a(t)x 2 (23) x…”

Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control

“…Ibanez et al [18] introduced a preview control to ensure the lower limb stability and the end-effector compliance under external forces in humanoid robot tasks. In [19], a biped walk control based on the centroidal moment pivot (CMP) criterion using ground reaction force feedback is proposed, and its effectiveness is simulated in comparison with the ZMP-based control under an external disturbance. As for behaviors on the uneven terrain, in [20], a humanoid robot demonstrated to walk on the inclined floor according to their designed controller which adjusted the prescribed desired trajectory so that the upper body should be upright by decreasing its inclination measured by the installed inertial sensor.…”