Enhancing speed recovery rapidity in bipedal walking with limited foot area using DCM predictions

Han, Lianqiang; Chen, Xuechao; Yu, Zhangguo; Zhang, Jintao; Gao, Zhifa; Huang, Qiang

doi:10.1016/j.eswa.2024.123858

Expert Systems with Applications

2024

DOI: 10.1016/j.eswa.2024.123858

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Enhancing speed recovery rapidity in bipedal walking with limited foot area using DCM predictions

Lianqiang Han,

Xuechao Chen,

Zhangguo Yu

et al.

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2024

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Cited by 3 publications

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Implementing dog-like quadruped robot turning motion based on key movement joints extraction

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Meng,

Liu

et al. 2024

Expert Systems with Applications

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Implementing dog-like quadruped robot turning motion based on key movement joints extraction

Gu,

Meng,

Liu

et al. 2024

Expert Systems with Applications

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Design and Optimization of Multi Contact Flexible Feet for Humanoid Robots

Han,

Li,

Zhang

et al. 2024

J. Phys.: Conf. Ser.

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Humanoid robots can traverse various terrains using a bipedal motion mode, thus possessing good mobility. In recent years, the application scenarios of humanoid robots have expanded to outdoor and even wild environments, where dynamic interactions with complex environments generate significant external impact forces, affecting the robot’s stable motion. This paper designs a flexible bionic foot, optimizing the elastic coefficient of the cushioning structure by constructing a multi-contact flexible dynamic model. Through simulations and experiments, compared with a flat foot, the flexible foot designed in this paper can effectively reduce external impact forces.

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An MPC-DCM Control Method for a Forward-Bending Biped Robot Based on Force and Moment Control

Wei,

Deng,

Feng

et al. 2024

Electronics

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For a forward-bending biped robot with 10 degrees of freedom on its legs, a new control framework of MPC-DCM based on force and moment is proposed in this paper. Specifically, the Diverging Component of Motion (DCM) is a stability criterion for biped robots based on linear inverted pendulum, and Model Predictive Control (MPC) is an optimization solution strategy using rolling optimization. In this paper, DCM theory is applied to the state transition matrix of the system, combined with simplified rigid body dynamics, the mathematical description of the biped robot system is established, the classical MPC method is used to optimize the control input, and DCM constraints are added to the constraints of MPC, making the real-time DCM approximate to a straight line in the walking single gait. At the same time, the linear angle and friction cone constraints are considered to enhance the stability of the robot during walking. In this paper, MATLAB/Simulink is used to simulate the robot. Under the control of this algorithm, the robot can reach a walking speed of 0.75 m/s and has a certain anti-disturbance ability and ground adaptability. In this paper, the Model-H16 robot is used to deploy the physical algorithm, and the linear walking and obstacle walking of the physical robot are realized.

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Enhancing speed recovery rapidity in bipedal walking with limited foot area using DCM predictions

Cited by 3 publications

References 21 publications

Implementing dog-like quadruped robot turning motion based on key movement joints extraction

Implementing dog-like quadruped robot turning motion based on key movement joints extraction

Design and Optimization of Multi Contact Flexible Feet for Humanoid Robots

An MPC-DCM Control Method for a Forward-Bending Biped Robot Based on Force and Moment Control

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