A robust walking controller optimizing step position and step time that exploit advantages of footed robot

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This study proposes a robust humanoid step control algorithm that optimizes ground reaction force, step position and step time. Our method is focused on the robot that has finite size of foot and designed to exploit its advantages. The foot allows for the range of ZMP presence and our algorithm use this ZMP range to absorb sensor noise, modeling error and certain amount of disturbances. Thanks to these effect, our step controller is able to produce new stepping time and the stepping position stably. From quadratic programming (QP) technique, we can consider maximum kinematical foot range and maximum foot velocity in the optimization process by setting inequality constraints. The CoM trajectory is re planned in each control cycle with a short cycle preview controller. The linear inverted pendulum model (LIPM) simulation and full dynamics simulation shows that our proposing method precisely reflect the advantages of footed robot and significant improvement in walking robustness to strong perturbation. (C) 2018 Elsevier B.V. All rights reserved.
Publisher
ELSEVIER SCIENCE BV
Issue Date
2019-03
Language
English
Article Type
Article
Citation

ROBOTICS AND AUTONOMOUS SYSTEMS, v.113, pp.10 - 22

ISSN
0921-8890
DOI
10.1016/j.robot.2018.12.003
URI
http://hdl.handle.net/10203/251780
Appears in Collection
ME-Journal Papers(저널논문)
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