Biped walking control design based on zero moment point dynamics

Biped walking;Zero moment point

Fan, Yinai ; Hutchinson ; Seth

关键词: Biped walking;    Zero moment point;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/97512/FAN-THESIS-2017.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

Biped walking control for humanoid robots has been a challenging yet promising research topic in the past decades. The complicated nonlinear dynamics and numerous degrees of freedom are the main obstacles for biped walking control. This thesis studies the complete control scheme of biped walking control based on Zero Moment Point dynamics. Starting with basic de nitions, a new trajectory planning method using boundedness solutions of Linear Inverted Pendulum Model is studied and implemented as a replanning algorithm. Stabilizers for walking trajectory tracking are investigated and evaluated, with an emphasis on the Whole Body Cooperation method, which is then implemented along with the replanning algorithm in simulations.