Jiatao Ding, Xiaohui Xiao, and Yang Wang
Biped robots, ZMP preview control, adaptive fuzzy strategy, online gait generation, robustness, walking control
To enhance the robustness in tolerance for modelling error and for uncertain external disturbances in bipedal walking, the Zero-Moment-Point (ZMP) preview control with adaptive fuzzy adjust-ment strategy is proposed in this paper. Firstly, to obtain suitable walking patterns, an offline generator based on the ZMP stability criterion and an online generator based on the ZMP preview control are built. Then, the multiplication factor of joint angles generated by the online generator (angle coefficient) is introduced to delegate the two generators. After that, the adaptive fuzzy strategy for the angle coefficient adjustment is presented and the controller is completed. Finally, using a 10 DOFs virtual prototype, groups of simulations are conducted to evaluate the proposed method. The results indicate that suitable walking trajectories with reduced yaw can be obtained in spite of modelling error and environmental variety. Besides, higher stability of walking on uneven surfaces is also achieved even with huge modelling error.
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