Castano, JA, Zhou, C orcid.org/0000-0002-6677-0855, Kryczka, P et al. (1 more author) (2018) MPC strategy for dynamic stabilization of preplanned walking gaits. In: Proceedings of the IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids). 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 15-17 Nov 2017, Birmingham, UK. , pp. 618-623. ISBN 978-1-5386-4679-3
Abstract
In this paper, we report the implementation and the experimental validation of a balancing controller of bipedal robots during the execution of predefined walking patterns. The proposed controller is a cascade controller that uses the actual centre of mass (CoM) states at each sampling time and the desired CoM trajectory within a defined time window. The purpose of this controller is to generate at each sampling time a corrective term at the pelvis that allows a better tracking of the CoM and Zero Moment Point trajectories. Therefore, the overall stability is increased during the gait execution. The method permits to minimize tracking errors due to small disturbances and control errors. The effectiveness of the proposed controller is validated in simulation and in real implementation on the full-body humanoid robot Walk-Man.
Metadata
Item Type: | Proceedings Paper |
---|---|
Authors/Creators: |
|
Copyright, Publisher and Additional Information: | © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Trajectory; Legged locomotion; Pelvis; Stability analysis; Foot; Tracking |
Dates: |
|
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: | 29 Jan 2020 13:25 |
Last Modified: | 25 Jun 2023 22:08 |
Status: | Published |
Identification Number: | 10.1109/HUMANOIDS.2017.8246936 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:156163 |