3D biped locomotion control including seamless transition between walking and running via 3D ZMP manipulation

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},
}