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Application of variable zero-moment point in walking control of the biped robot

Using the predictive control based on zero-moment point (ZMP), the biped robot can walk comparatively stably. However, the problems such as lack of self-adaptivity are also highlighted mainly on account of modeling errors and environmental perturbations; specifically, the tracking errors of ZMP are...

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Main Author: Jing, Chenglin
Format: Article
Language:English
Published: Penerbit Universiti Kebangsaan Malaysia 2019
Online Access:http://journalarticle.ukm.my/14464/1/17%20Chenglin%20Jing.pdf
http://journalarticle.ukm.my/14464/
http://www.ukm.my/jsm/malay_journals/jilid48bil12_2019/KandunganJilid48Bil12_2019.html
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spelling my-ukm.journal.144642020-04-21T02:34:23Z http://journalarticle.ukm.my/14464/ Application of variable zero-moment point in walking control of the biped robot Jing, Chenglin Using the predictive control based on zero-moment point (ZMP), the biped robot can walk comparatively stably. However, the problems such as lack of self-adaptivity are also highlighted mainly on account of modeling errors and environmental perturbations; specifically, the tracking errors of ZMP are generated, leading to a reduced walking stability. To address this problem, in the present work, the expected ZMP was decomposed into the reference ZMP which is pre-planned offline, and the variable ZMP which can be varied in real time. With the addition of the variable ZMP, the outside interferences can be eliminated. By combining the predictive control system and the inverse system of variable ZMP, the walking pattern of the robot with favorable self-adaptivity can be achieved. Finally, the simulation results indicate that the self-adaptivity of the robot can be effectively improved using the proposed control system. Penerbit Universiti Kebangsaan Malaysia 2019-12 Article PeerReviewed application/pdf en http://journalarticle.ukm.my/14464/1/17%20Chenglin%20Jing.pdf Jing, Chenglin (2019) Application of variable zero-moment point in walking control of the biped robot. Sains Malaysiana, 48 (12). pp. 2759-2766. ISSN 0126-6039 http://www.ukm.my/jsm/malay_journals/jilid48bil12_2019/KandunganJilid48Bil12_2019.html
institution Universiti Kebangsaan Malaysia
building Tun Sri Lanang Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Kebangsaan Malaysia
content_source UKM Journal Article Repository
url_provider http://journalarticle.ukm.my/
language English
description Using the predictive control based on zero-moment point (ZMP), the biped robot can walk comparatively stably. However, the problems such as lack of self-adaptivity are also highlighted mainly on account of modeling errors and environmental perturbations; specifically, the tracking errors of ZMP are generated, leading to a reduced walking stability. To address this problem, in the present work, the expected ZMP was decomposed into the reference ZMP which is pre-planned offline, and the variable ZMP which can be varied in real time. With the addition of the variable ZMP, the outside interferences can be eliminated. By combining the predictive control system and the inverse system of variable ZMP, the walking pattern of the robot with favorable self-adaptivity can be achieved. Finally, the simulation results indicate that the self-adaptivity of the robot can be effectively improved using the proposed control system.
format Article
author Jing, Chenglin
spellingShingle Jing, Chenglin
Application of variable zero-moment point in walking control of the biped robot
author_facet Jing, Chenglin
author_sort Jing, Chenglin
title Application of variable zero-moment point in walking control of the biped robot
title_short Application of variable zero-moment point in walking control of the biped robot
title_full Application of variable zero-moment point in walking control of the biped robot
title_fullStr Application of variable zero-moment point in walking control of the biped robot
title_full_unstemmed Application of variable zero-moment point in walking control of the biped robot
title_sort application of variable zero-moment point in walking control of the biped robot
publisher Penerbit Universiti Kebangsaan Malaysia
publishDate 2019
url http://journalarticle.ukm.my/14464/1/17%20Chenglin%20Jing.pdf
http://journalarticle.ukm.my/14464/
http://www.ukm.my/jsm/malay_journals/jilid48bil12_2019/KandunganJilid48Bil12_2019.html
_version_ 1665895636639154176
score 13.211869

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