ZMP trajectory control of a humanoid robot using different controllers based on an offline trajectory generation

Aghbali, Behnam; Yousefi‐Koma, Aghil; Toudeshki, Amirmasoud Ghasemi; Shahrokhshahi, Ahmadreza

doi:10.1109/icrom.2013.6510161

Cited by 9 publications

(3 citation statements)

References 5 publications

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“…On the one hand, the traditional controller based on ZMP has difficulty dealing with complex nonlinear constraints caused by the change in CoM height [ 34 ]. On the other hand, to improve stability, many constraints, such as structural size and stability margin, must be considered [ 35 ].…”

Section: Related Workmentioning

confidence: 99%

Robust Walking for Humanoid Robot Based on Divergent Component of Motion

Zhang

Shan

et al. 2022

Micromachines

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In order to perform various complex tasks in place of humans, humanoid robots should walk robustly in the presence of interference. In the paper, an improved model predictive control (MPC) method based on the divergent components of motion (DCM) is proposed. Firstly, the humanoid robot model is simplified to a finite-sized foot-pendulum model. Then, the gait of the humanoid robot in the single-support phase (SSP) and double-support phase (DSP) is planned based on DCM. The center of mass (CoM) of the robot will converge to the DCM, which simplifies the feedback control process. Finally, an MPC controller incorporating an extended Kalman filter (EKF) is proposed to realize the tracking of the desired DCM trajectory. By adjusting the step duration, the controller can compensate for CoM trajectory errors caused by disturbances. Simulation results show that—compared with the traditional method—the method we propose achieves improvements in both disturbed walking and uneven-terrain walking.

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Section: Related Workmentioning

confidence: 99%

Robust Walking for Humanoid Robot Based on Divergent Component of Motion

Zhang

Shan

et al. 2022

Micromachines

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“…Related to this work, many researchers across the globe present and develop different controllers such as [18][19][20], where the authors proposed on gait generation for a 7-DOF robot. While in [21,22], they present a PID controller with ZMP to test the various joints of motors.…”

Section: Introductionmentioning

confidence: 99%

An adaptive neuro-fuzzy based on a fractional-order proportional integral derivative design for a two-legged robot with an improved swarm algorithm

Wassef

Hadi

2023

Eng. rev. (Online)

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In this paper, an adaptive neuro-fuzzy based on fractional-order proportional-integral-derivative (ANFFOPID) controller with an improved slime mould algorithm (ISMA) for the two-legged robot (TLR) is proposed to achieve the minimum angular displacement error of the joint motors. Achieving such error is considered a challenging and time-consuming process due to the gain values set for the FOPID controller. Thus the neural-fuzzy network is used to provide the FOPID input signals by the adaptive magnitude gains. The adaptive mechanism depends on the ISMA to train the neural network weights. The outstanding properties of the ANFFOPID controller are evaluated by comparing the proposed controller with other existing work that is modified chaotic invasive weed optimization based on neural network (MCIWO-NN) for various walking terrains that are flat surface, stair ascending, and stair descending. Finally, the results obtained show the effectiveness of the ANFFOPID controller.

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“…The research on establishing a stable walking pattern for humanoids, in general, has observed some breakthrough developments over the years. Vukobratovic (Vukobratović and Stepanenko, 1972) introduced the concept of zero moment point (ZMP) for the first time in 1972, which was a great contribution for the robotics industry and has led to the development of many impressive biped robots (Jun et al , 2010; Aghbali et al , 2013; Alcaraz-Jiménez et al , 2013). In 2013, Kajita et al proposed the preview control strategy that gradually modifies the COM trajectory of humanoids during the walking process (Kajita et al , 2014).…”

Section: Introductionmentioning

confidence: 99%

Hybrid adaptive control for series elastic actuator of humanoid robot

Lanh

Duong

Nguyen

et al. 2022

IJIUS

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PurposeGenerally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the utilization of passive compliant series elastic actuators (SEA) for driving humanoid's joints has proved the capability in many aspects so far. However, despite being widely applied in the biped robot research field, the stable control problem for a humanoid powered by the SEAs, especially in the walking process, is still a challenge. This paper proposes a model reference adaptive control (MRAC) combined with the back-stepping algorithm to deal with the parameter uncertainties in a humanoid's lower limb driven by the SEA system. This is an extension of our previous research (Lanh et al., 2021).Design/methodology/approachFirstly, a dynamic model of SEA is obtained. Secondly, since there are unknown and uncertain parameters in the SEA model, a Model Reference Adaptive Controller (MRAC) is employed to guarantee the robust performance of the humanoid's lower limb. Finally, an experiment is carried out to evaluate the effectiveness of the proposed controller and the SEA mechanism.FindingsThis paper proposes an effective control algorithm that can be widely applied for the humanoid-SEA system. Besides, the effect of the coefficients in the control law is analyzed to further improve the response's quality.Research limitations/implicationsEven though the simulation shows good results with stable system response, the practical experiment has not been implemented to fully evaluate the quality of the controller.Originality/valueThe MRAC is applied to control the humanoid's lower limb and the back-stepping process is utilized to combine with an external SEA system but still maintain stabilization. The simplified model of the lower-limb system proposed in the paper is proven to be appropriate and can be taken for further research in the future.

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ZMP trajectory control of a humanoid robot using different controllers based on an offline trajectory generation

Cited by 9 publications

References 5 publications

Robust Walking for Humanoid Robot Based on Divergent Component of Motion

Robust Walking for Humanoid Robot Based on Divergent Component of Motion

An adaptive neuro-fuzzy based on a fractional-order proportional integral derivative design for a two-legged robot with an improved swarm algorithm

Hybrid adaptive control for series elastic actuator of humanoid robot

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