From Non-Reactive to Reactive Walking in Humanoid Robots

Abstract

In this paper we report the implementation and the experimental validation of a controller to provide reactive walking gait capabilities of bipedal robots during the execution of predefined walking patterns. The proposed method is a cascade controller design to cope with external disturbances and to increase the robot stability. IMU states are used as inputs to generate modifications of the feet and the Center of Mass trajectories of the predefined walking gait. The method increases the walking stability minimizing the errors due to small terrain variations and external disturbances. The effectiveness of the proposed controller is validated in simulation and in real implementation on the full-body humanoid robot COMAN+.

Motion Transition Under Urgent Change of Target Step-stone During Three-Dimensional Biped Walking

“…In the works of [26,27], at least two steps need to be previewed. Because the CoM's position and velocity trajectories are derived backward according to given footsteps in [14,28,29], the continuity of the CoM velocity will be lost if the target footstep is actively changed during a step. The works based on ZMP manipulation [30,31] and model predictive control (MPC) [32] guarantee the CoM velocity continuity, but they are only implemented in planar walking yet.…”