Castano, JA, Li, Z, Zhou, C orcid.org/0000-0002-6677-0855 et al. (2 more authors) (2016) Dynamic and Reactive Walking for Humanoid Robots Based on Foot Placement Control. International Journal of Humanoid Robotics, 13 (02). 1550041. ISSN 0219-8436
Abstract
This paper presents a novel online walking control that replans the gait pattern based on our proposed foot placement control using the actual center of mass (COM) state feedback. The analytic solution of foot placement is formulated based on the linear inverted pendulum model (LIPM) to recover the walking velocity and to reject external disturbances. The foot placement control predicts where and when to place the foothold in order to modulate the gait given the desired gait parameters. The zero moment point (ZMP) references and foot trajectories are replanned online according to the updated foothold prediction. Hence, only desired gait parameters are required instead of predefined or fixed gait patterns. Given the new ZMP references, the extended prediction self-adaptive control (EPSAC) approach to model predictive control (MPC) is used to minimize the ZMP response errors considering the acceleration constraints. Furthermore, to ensure smooth gait transitions, the conditions for the gait initiation and termination are also presented. The effectiveness of the presented gait control is validated by extensive disturbance rejection studies ranging from single mass simulation to a full body humanoid robot COMAN in a physics based simulator. The versatility is demonstrated by the control of reactive gaits as well as reactive stepping from standing posture. We present the data of the applied disturbances, the prediction of sagittal/lateral foot placements, the replanning of the foot/ZMP trajectories, and the COM responses.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Keywords: | Dynamic walking; reactive walking; humanoid robot; model predictive control |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 04 Apr 2019 13:37 |
Last Modified: | 04 Apr 2019 13:38 |
Status: | Published |
Publisher: | World Scientific Publishing |
Identification Number: | 10.1142/S0219843615500413 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:144472 |