Title :
Dynamic walking control by using the liquid level model and the preview of zero-moment-point
Author :
Chafroud, Naceur ; Khraief, Nahla ; Braiek, Naceur Benhadj
Author_Institution :
Dept. of R&D, Univ. of Carthage, Ariana, Tunisia
Abstract :
This electronic document presents the application of a novel method of bipedal walking pattern generation assured by “the liquid level model” and the preview control of zero-moment-point (ZMP). In this method, the trajectory of the center of mass (CoM) of the robot is generated assured by the preview controller to maintain the ZMP at the desired location knowing that the robot is modeled as a running liquid level model on a tank. The proposed approach combines the preview control theory with simple model “the liquid level model”, to assure a stable dynamic walking. Simulations results show that the proposed pattern generator guarantee not only to walk dynamically stable but also good performance.
Keywords :
legged locomotion; predictive control; CoM; ZMP; bipedal walking pattern generation; center of mass; dynamic walking control; electronic document; liquid level model; pattern generator; preview controller; robot; zero-moment-point; Educational institutions; Humanoid robots; Legged locomotion; Liquids; Mathematical model; Trajectory; Biped robot; Liquid Level Model; Preview Controller;
Conference_Titel :
Individual and Collective Behaviors in Robotics (ICBR), 2013 International Conference on
Conference_Location :
Sousse
DOI :
10.1109/ICBR.2013.6729273