3D biped locomotion control including seamless transition between walking and running via 3D ZMP manipulation
Tomomichi Sugihara, Kenta Imanishi, Takanobu Yamamoto, Stéphane Caron
Abstract
A novel control scheme for biped robots to manipulate the ZMP three-dimensionally apart from the actual ground profile is presented. It is shown that the linear inverted-pendulum-like dynamics with this scheme can represent a wider class of movements including variation of the body height. Moreover, this can also represent the motion in aerial phase. Based on this, the foot-guided controller proposed by the authors is enhanced to enable the robots to locomote on highly uneven terrains and also to seamlessly transition between walking and running without pre-planning the overall motion reference. The controller guarantees the capturability at landing and defines the motion by a time-variant state feedback, which is analytically derived from a model predictive optimization. It is verified through some computer simulations.
BibTeX
@inproceedings{icra2021_3dbipedlocomotio,
title = {3D biped locomotion control including seamless transition between walking and running via 3D ZMP manipulation},
author = {Tomomichi Sugihara and Kenta Imanishi and Takanobu Yamamoto and Stéphane Caron},
booktitle = {ICRA 2021},
year = {2021}
}