Multi-level control of zero-moment point-based humanoid biped robots: a review

Abstract

SUMMARYResearchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centred environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.

Decentralized adaptive partitioned approximation control of high degrees-of-freedom robotic manipulators considering three actuator control modes

“…If the dynamics of the stance foot are considered and it is allowed to rotate, the system will be underactuated and the stability of the biped mechanism cannot be governed by the ZMP and another balance criterion, e.g., Poincaré map, is used alternatively. See [48,49] for more details. Figure 9 shows the configuration of the biped robot during the SSP; for more details on modeling and control of biped robots see [47][48][49][50][51][52][53][54][55][56][57].…”

“…See [48,49] for more details. Figure 9 shows the configuration of the biped robot during the SSP; for more details on modeling and control of biped robots see [47][48][49][50][51][52][53][54][55][56][57]. The physical parameters are borrowed from [58].…”

“…The ZMP location coincides with the location of the center of pressure for the balance walking; however, this is not the case for unbalanced walking. See[47][48][49][50][51][52][53][54][55][56][57] and the references therein for more details.…”

Dynamic Modeling of Biped Robot using Lagrangian and Recursive Newton-Euler Formulations

“…The E-L equations for open chain mechanism (biped robot during the SSP as shown in Figure 2) can be expressed as (1) where is Lagrangian function which is equal to the kinetic energy of the robotic system ( ) minus its potential energy ( ), denotes the generalized coordinates of link (i), and is the derivative of the generalized coordinates.…”

“…ii. Dealing with unilateral contact of the foot-ground interaction as a passive joint (rigid-to-rigid contact) or as compliant model (penalty-based approach), see [1]. iii.…”