Nonlinear Control Systems
Modeling, Identification and Control of Robots
Modeling, Identification and Control of Robots
Neuro-fuzzy ZMP control of a biped robot
SMO'06 Proceedings of the 6th WSEAS International Conference on Simulation, Modelling and Optimization
Asymptotically stable walking of a five-link underactuated 3-D bipedal robot
IEEE Transactions on Robotics
Real time motion generation and control for biped robot: 1st report: walking gait pattern generation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Reduction-based Control of Three-dimensional Bipedal Walking Robots
International Journal of Robotics Research
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Stability analysis and time-varying walking control for an under-actuated planar biped robot
Robotics and Autonomous Systems
Stable Bipedal Walking With Foot Rotation Through Direct Regulation of the Zero Moment Point
IEEE Transactions on Robotics
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This paper presents a stable walking control method for a 3D bipedal robot with 14 joint actuators. The overall control law consists of a ZMP (zero moment point) controller, a swing ankle rotation controller and a partial joint angles controller. The ZMP controller guarantees that the stance foot remains in flat contact with the ground. The swing ankle rotation controller ensures a flat foot impact at the end of the swinging phase. Each of these controllers creates 2 constraints on joint accelerations. As a consequence, the partial joint angles controller is implemented to track only 10 independent outputs. These outputs are defined as a linear combination of the 14 joint angles. The most important question addressed in this paper is how this linear combination can be defined in order to ensure walking stability. The stability of the walking gait under closed loop control is evaluated with the linearization of the restricted Poincare map of the hybrid zero dynamics. As a result, the robot can achieve an asymptotically stable and periodic walking along a straight line. Finally, another feedback controller is supplemented to adjust the walking direction of the robot and some examples of the robot steered to walk along different paths with mild curvature are given.