Walking Control for Humanoid Robot Based on ZMP Error Correction
FU Genping1, YANG Yimin1, CHEN Jianping2, LI Jing1
1. School of Automation, Guangdong University of Technology, Guangzhou 510090, China;
2. School of Computer, Zhaoqing University, Zhaoqing 526061, China
付根平, 杨宜民, 陈建平, 李静. 基于ZMP误差校正的仿人机器人步行控制[J]. 机器人, 2013, 35(1): 39-44.DOI: 10.3724/SP.J.1218.2013.00039.
FU Genping, YANG Yimin, CHEN Jianping, LI Jing. Walking Control for Humanoid Robot Based on ZMP Error Correction. ROBOT, 2013, 35(1): 39-44. DOI: 10.3724/SP.J.1218.2013.00039.
Both undesirable walking environment and external perturbations will cause the ZMP (zero moment point) error and affect the walking stability of the humanoid robot. Since ZMP is affected by angles of all robot joints, it is difficult to achieve good walking-control performance if only correcting the ankle or hip angles of the support leg. Therefore, considering the influence of all joint angles on ZMP, the way to calculate the CoM (center of mass) position displacement of robot is studied by fuzzy controller based on ZMP error. Then angle corrections of all joints to match the CoM position displacement are computed by using quadratic programming and CoM Jacobian matrix. The simulation results show that by this method, the desired ZMP trajectory can be tracked very well, and the walking stability margin is improved, which helps the humanoid robot walk stably.
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