Kemalettin Erbatur and Özer Koca and Evrim Taşkıran and Metin Yılmaz and Utku Seven
ZMP Based Reference Generation for Biped Walking Robots
853 - 860
2009
3
10
International Journal of Mechanical and Materials Engineering
https://publications.waset.org/pdf/15521
https://publications.waset.org/vol/34
World Academy of Science, Engineering and Technology
Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The humanlike robot structure is
more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots.
However, the walking control for bipedal robots is a challenging task
due to their complex dynamics. Stable reference generation plays a very important role in control.
Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable
walking reference generation of biped walking robots. This paper follows this main approach too. We propose a natural and continuous ZMP reference trajectory for a stable and humanlike walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass trajectory is obtained
from predefined ZMP reference trajectories by a Fourier series
approximation method. The Gibbs phenomenon problem common with Fourier approximations of discontinuous functions is avoided by employing continuous ZMP references. Also, these ZMP reference
trajectories possess preassigned single and double support phases,
which are very useful in experimental tuning work.
The ZMP based reference generation strategy is tested via threedimensional
fulldynamics simulations of a 12degreesoffreedom
biped robot model. Simulation results indicate that the proposed reference trajectory generation technique is successful.
Open Science Index 34, 2009