Disturbance Rejection for Biped Walking Using Zero-Moment Point Variation Based on Body Acceleration

Yu, Zhangguo; Zhou, Qinqin; Li, Qingqing; Meng, Libo; Zhang, Weimin

doi:10.1109/tii.2018.2890195

Cited by 35 publications

(12 citation statements)

References 35 publications

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“…Usually, in the legged locomotion, the stability of a gait is guaranteed by using a criterion such as zero-moment point [27,28]. Other studies face the stability problem with the Poincare map [29,30] or ground reference points [31].…”

Section: Optimization Modelmentioning

confidence: 99%

“…The previous constraints are based on the linear approximation (see Equation (2)) of the equations of motion, and they provide the initial guess of the kinematic variables at the initial and final times, 0 and T. Moreover, the force and the moments, through their spline approximations, satisfy the set of conditions from (7) to (27). With this starting guess, we can solve the following iterative nonlinear optimization problem:…”

Section: θ(T)mentioning

confidence: 99%

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Quadrupedal Robots’ Gaits Identification via Contact Forces Optimization

et al. 2021

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The purpose of the present paper is the identification of optimal trajectories of quadruped robots through genetic algorithms. The method is based on the identification of the optimal time history of forces and torques exchanged between the ground and the body, without any constraints on leg kinematics. The solutions show how it is possible to obtain similar trajectories to those of a horse’s walk but obtaining better performance in terms of energy cost. Finally, a map of the optimal gaits found according to the different speeds is presented, identifying the transition threshold between the walk and the trot as a function of the total energy spent.

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Section: Optimization Modelmentioning

confidence: 99%

Section: θ(T)mentioning

confidence: 99%

Quadrupedal Robots’ Gaits Identification via Contact Forces Optimization

et al. 2021

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“…Zero Moment Point (ZMP) control is widely accepted as a basic approach for walking robots [ 1 , 2 , 3 , 4 , 5 , 6 , 7 , 8 , 9 , 10 ]. Kajita [ 11 ] suggested a preview control system based on the Cart–Table model to generate biped walking patterns by ZMP.…”

Section: Introductionmentioning

confidence: 99%

Neural Network Based Contact Force Control Algorithm for Walking Robots

Kim

2021

Sensors

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Walking algorithms using push-off improve moving efficiency and disturbance rejection performance. However, the algorithm based on classical contact force control requires an exact model or a Force/Torque sensor. This paper proposes a novel contact force control algorithm based on neural networks. The proposed model is adapted to a linear quadratic regulator for position control and balance. The results demonstrate that this neural network-based model can accurately generate force and effectively reduce errors without requiring a sensor. The effectiveness of the algorithm is assessed with the realistic test model. Compared to the Jacobian-based calculation, our algorithm significantly improves the accuracy of the force control. One step simulation was used to analyze the robustness of the algorithm. In summary, this walking control algorithm generates a push-off force with precision and enables it to reject disturbance rapidly.

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“…The most stable and widely used walking standard is based on the zero moment point (ZMP) theory [ 21 ], which can ensure that the planned CoM position always lies within the ZMP stable area. This method is mainly used for biped robots, and several walking pattern generators have been developed [ 22 , 23 ]; some studies have also applied this method to quadruped robots [ 24 , 25 , 26 ]. According to the stability margin and related ZMP theory, the center of the supporting polygon is the most stable point, and the support triangle switching of a quadruped robot’s crawling process will produce a displacement in the trunk width direction.…”

Section: Introductionmentioning

confidence: 99%

Structural Design and Crawling Pattern Generator of a Planar Quadruped Robot for High-Payload Locomotion

Kang

Meng

Chen

et al. 2020

Sensors

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Load capacity is an important index to reflect the practicability of legged robots. Existing research into quadruped robots has not analyzed their load performance in terms of their structural design and control method from a systematic point of view. This paper proposes a structural design method and crawling pattern generator for a planar quadruped robot that can realize high-payload locomotion. First, the functions required to evaluate the leg’s load capacity are established, and quantitative comparative analyses of the candidates are performed to select the leg structure with the best load capacity. We also propose a highly integrated design method for a driver module to improve the robot’s load capacity. Second, in order to realize stable load locomotion, a novel crawling pattern generator based on trunk swaying is proposed which can realize lateral center of mass (CoM) movement by adjusting the leg lengths on both sides to change the CoM projection in the trunk width direction. Finally, loaded crawling simulations and experiments performed with our self-developed quadruped robot show that stable crawling with load ratios exceeding 66% can be realized, thus verifying the effectiveness and superiority of the proposed method.

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Disturbance Rejection for Biped Walking Using Zero-Moment Point Variation Based on Body Acceleration

Cited by 35 publications

References 35 publications

Quadrupedal Robots’ Gaits Identification via Contact Forces Optimization

Quadrupedal Robots’ Gaits Identification via Contact Forces Optimization

Neural Network Based Contact Force Control Algorithm for Walking Robots

Structural Design and Crawling Pattern Generator of a Planar Quadruped Robot for High-Payload Locomotion

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