Realization of a biped robot lower limb walking without double support phase on uneven terrain

DOI10.1155/2013/429458MaRDI QIDQ2249289zbMATH OpenOpenAlexWikidataFDO

Authors Yanyan Li

Publication date 1 July 2014

Published in Journal of Control Science and Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2013/429458

zbMATH Keywords

biped robotdynamic equilibrium methoddynamical walking controlwalking pattern generation methodzero moment point (ZMP)

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: Zero Moment Point (ZMP) is widely used in dynamical walking control of the biped robot, but it is hard to obtain the ZMP exactly. The paper describes a simple walking control method without using ZMP information directly. Firstly, the paper introduced a biped robot lower-limb prototype which is driven by linear hydraulic servocylinder. Then, the paper simplifies the walking control in the lateral plane with a simple walking pattern generation method named ``dynamic equilibrium method, which is fit for active and underactuated biped robots. In the following section, the paper provides balance control methods without using ZMP information directly. Finally, simulation experiments with MD.DAMS and experiments in physical prototype are given. The experimental results confirm the effectiveness of the proposed control methods.

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Cited in

(6)

• Disturbance rejection control based on acceleration projection method for walking robots
• ZMP-based fall prevention assist for lower-limb exoskeletons during dynamic walking
• scientific article; zbMATH DE number 2089492 (Why is no real title available?)
• Real Time Optimization for Robot Control using Receding Horizon Control with Equal Constraint
• Methodology for zero-moment point experimental modeling in the frequency domain
• Mathematical simulation of a seven link biped robot on various surfaces and ZMP considerations

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