TY - GEN
T1 - Gait Planning and Control of a Biped Robot with Walking Pattern Generator and Auxiliary ZMP
AU - Wu, Yi Chen
AU - Lin, Han Wei
AU - Ho, Ming Tzu
N1 - Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - The aim of this paper is to use force/torque sensors and an attitude sensor to achieve gait closed-loop feedback control for a bipedal robot. In gait planning, the walking pattern generator is used to generate the center of the mass movement path. In footstep planning, the cycloidal profile is used to obtain the foot's plate trajectory equation. An inertial measurement unit (IMU) sensor measures attitude changes during walking, and measured data is sent back to an industrial computer for feedback control. Force/torque sensors are used to obtain the zero moment point (ZMP) of the biped robot, and it is an essential factor for evaluating the robot's stability. Finally, the ability and stability of the biped robot walking on the ground are tested with the auxiliary ZMP control method. Performance comparison between the open loop control and closed-loop control is made. It is shown that the stability of the gait of the biped robot is improved by the closed-loop control using auxiliary ZMP.
AB - The aim of this paper is to use force/torque sensors and an attitude sensor to achieve gait closed-loop feedback control for a bipedal robot. In gait planning, the walking pattern generator is used to generate the center of the mass movement path. In footstep planning, the cycloidal profile is used to obtain the foot's plate trajectory equation. An inertial measurement unit (IMU) sensor measures attitude changes during walking, and measured data is sent back to an industrial computer for feedback control. Force/torque sensors are used to obtain the zero moment point (ZMP) of the biped robot, and it is an essential factor for evaluating the robot's stability. Finally, the ability and stability of the biped robot walking on the ground are tested with the auxiliary ZMP control method. Performance comparison between the open loop control and closed-loop control is made. It is shown that the stability of the gait of the biped robot is improved by the closed-loop control using auxiliary ZMP.
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U2 - 10.1109/CACS52606.2021.9639062
DO - 10.1109/CACS52606.2021.9639062
M3 - Conference contribution
AN - SCOPUS:85123934769
T3 - 2021 International Automatic Control Conference, CACS 2021
BT - 2021 International Automatic Control Conference, CACS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 International Automatic Control Conference, CACS 2021
Y2 - 3 November 2021 through 6 November 2021
ER -