Paper Info
Title
Bipedal walking with toe-off, heel-strike and compliance with external disturbances
Abstract
Both disturbance rejection and human-like motions, like toe-off and heel-strike, are important for a biped robot to enhance its performance. However, the required motions for them may influence each other, which is why few studies consider them simultaneously. This paper presents a method to realize stable walking with toe-off and heel-strike even when the robot experiences disturbances. We propose a walking controller which can constrain the desired ground reaction force. On the one hand, the controller can adjust the torso acceleration to make the supporting leg compliant with the external disturbances on the torso. On the other hand, it can rotate the supporting foot by adjusting the ZMP to an appropriate location. The linear inverted pendulum is utilized to generate the CoM trajectory and the foot placement. Meanwhile, its ZMP can be predefined as required so that the toe-off and heel-strike can be achieved by the controller. The effectiveness of the proposed method is demonstrated by simulations.
Year
DOI
Venue
2014
10.1109/HUMANOIDS.2014.7041409
Humanoids
Keywords
DocType
ISSN
motion control,legged locomotion,walking stability,com trajectory,linear inverted pendulum,pendulums,nonlinear control systems,bipedal walking,gait analysis,biped robot,heel-strike motion,disturbance rejection,foot placement,stability,toe-off motion,foot,acceleration,torso,robot kinematics
Conference
2164-0572
Citations 
PageRank 
References 
1
0.36
14
Authors
7
Name
Order
Citations
PageRank
Xuechao Chen14619.24
Yuhang Zhou210.36
Qiang Huang326691.95
Zhangguo Yu44619.12
Gan Ma5125.03
Libo Meng6148.38
Chenglong Fu77216.06