By Topic

A new control law for a 3D biped robot based on regulation of the zero moment point and joint path

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Ting Wang ; CNRS, Ecole Centrale de Nantes, Nantes, France ; Chevallereau, C.

This paper presents a new controller that can achieve an asymptotically stable, periodic walking gait for a 3D biped robot, which has 14 DOF in the single support phase and 14 actuators. In order to avoid the unexpected rotation of the supporting foot, two positions of the zero moment point or ZMP in the horizontal plane are regulated. For a 3D robot with 14 actuated joints, since the 2 positions of the ZMP are controlled only other 12 outputs should be chosen. The controller is desired to track a parameterized reference trajectory, not the time-variant one. It is defined in such a way that only the kinematic evolution of the robots state is regulated, but not its temporal evolution. In particular, this method allows the computations for the controller design and the periodic orbit to be carried out on a 3 order subsystem of the 14 DOF robot model. The reference motions are adapted at each step in order to create an hybrid zero dynamic system. The stability of the walking gait under closed-loop control is evaluated with the linearization of the restricted Poincaré map of the hybrid zero dynamics. The effect of controlled outputs selection on the zero dynamics is discussed and some pertinent choices of controlled outputs are proposed, leading to stable walking.

Published in:

Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on

Date of Conference:

6-8 Dec. 2010