Zero-Moment Point-Based Biped Robot with Different Walking Patterns

Abstract

This paper addresses three issues of motion planning for zero-moment point (ZMP)-based biped robots. First, three methods have been compared for smooth transition of biped locomotion from the single support phase (SSP) to the double support phase (DSP) and vice versa. All these methods depend on linear pendulum mode (LPM) to predict the trajectory of the center of gravity (COG) of the biped. It has been found that the three methods could give the same motion of the COG for the biped. The second issue is investigation of the foot trajectory with different walking patterns especially during the DSP. The characteristics of foot rotation can improve the stability performance with uniform configurations. Last, a simple algorithm has been proposed to compensate for ZMP deviations due to approximate model of the LPM. The results show that keeping the stance foot flat at beginning of the DSP is necessary for balancing the biped robot.

Center of Pressure Feedback for Controlling the Walking Stability Bipedal Robots using Fuzzy Logic Controller

“…Bipedal stability during walking motion is a critical fact in preventing the robot from falling down and causing the human or itself damages. The Zero Moment Point (ZMP) method is often used as a stability criterion for a walking biped robot [8]- [14]. We have found in the literature the use of force sensors placed under the feet.…”

Decentralized adaptive partitioned approximation control of high degrees-of-freedom robotic manipulators considering three actuator control modes

“…See [48,49] for more details. Figure 9 shows the configuration of the biped robot during the SSP; for more details on modeling and control of biped robots see [47][48][49][50][51][52][53][54][55][56][57]. The physical parameters are borrowed from [58].…”

“…The ZMP location coincides with the location of the center of pressure for the balance walking; however, this is not the case for unbalanced walking. See[47][48][49][50][51][52][53][54][55][56][57] and the references therein for more details.…”

Gait generation via intrinsically stable MPC for a multi-mass humanoid model

“…3. The foot trajectory plays an important role in the gait generation and requires a deeper analysis [24], [25] . due to the particular choice of the swing foot trajectory (17), the ZMP swing foot contribution remains linear in the decision variables x j f and…”