Abstract¶
A novel control scheme for biped robots to manipulate the ZMP three-dimensionally apart from the actual ground profile is presented. It is shown that the linear inverted-pendulum-like dynamics with this scheme can represent a wider class of movements including variation of the body height. Moreover, this can also represent the motion in aerial phase. Based on this, the foot-guided controller proposed by the authors is enhanced to enable the robots to locomote on highly uneven terrains and also to seamlessly transition between walking and running without pre-planning the overall motion reference. The controller guarantees the capturability at landing and defines the motion by a time-variant state feedback, which is analytically derived from a model predictive optimization. It is verified through some computer simulations.
Content¶
10.1109/ICRA48506.2021.9561503 |
BibTeX¶
@inproceedings{sugihara2021icra,
title = {3D biped locomotion control including seamless transition between walking and running via 3D ZMP manipulation},
author = {Sugihara, Tomomichi and Imanishi, Kenta and Yamamoto, Takanobu and Caron, St{\'e}phane},
booktitle = {IEEE International Conference on Robotics and Automation},
pages = {6258--6263},
year = {2021},
month = may,
organization = {IEEE},
doi = {10.1109/ICRA48506.2021.9561503},
}
Discussion ¶
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