A novel compound biped locomotion algorithm for humanoid robots to realize biped walking

作者：Xin, Ruiwu^*; Xiao, Nanfeng

来源：Journal of Control Theory and Applications, 2009, 7(1): 23-28.

DOI：10.1007/s11768-009-7153-z

• Biped walking
• Center of gravity
• Humanoid robot
• Novel algorithm
• Upper bodies
• Zero moment point

In this paper, a compound biped locomotion algorithm for a humanoid robot under development is presented. This paper is organized in two main parts. In the first part, it mainly focuses on the structural design for the humanoid. In the second part, the compound biped locomotion algorithm is presented based on the reference motion and reference Zero Moment Point (ZMP). This novel algorithm includes calculation of the upper body motion and trajectory of the Center of Gravity (CoG) of the robot. First, disturbances from the environment are eliminated by the compensational movement of the upper body;then based on the error between a reference ZMP and the real ZMP as well as the relation between ZMP and CoG, the CoG error is calculated, thus leading to the CoG trajectory. Then, the motion of the robot converges to its reference motion, generating stable biped walking. Because the calculation of upper body motion and trajectory of CoG both depend on the reference motion, they can work in parallel, thus providing double insurances against the robot's collapse. Finally, the algorithm is validated by different kinds of simulation experiments.

• 出版日期2009-2
• 单位华南理工大学