Stable walking of biped robot based on center of mass trajectory control

Abstract

The effect of center of mass (CoM) trajectory on stable walking of biped robot was studied in this study. The method of predictive control by controlling CoM trajectory to generate stable walking patterns was discussed, which simulated the principle of adjusting center of gravity in advance during human walking to adapt to the change of road conditions. As for uncertainty of robot modeling and the influence of environment, adding variable zero moment point for variable predictive control system can achieve self-adaptive adjustment of CoM trajectory to generate stable walking patterns. The simulation experiment results indicated that walking stability of biped robot was sensitive to the change of CoM trajectory. As long as CoM trajectory was adjusted well, stable walking of biped robot can be controlled even in the presence of disturbances. It is proved that the method of predictive control by controlling CoM motion to generate stable walking pattern is consistent with reality.

Keywords

• biped robot
• variable zero moment point
• center of mass (com) trajectory
• predictive control
• stable walking pattern