Biped Robot Gait Control Based on Enhanced Capture Point

Abstract

In this paper, we propose the concept of enhanced capture point. Then we develop the enhanced CP controller with two enhanced CP control methods eCPS, eCPT. Their stability and disturbance rejection ability are analyzed. In addition, we introduce the concept of controllable region of CP and compare the enhanced CP control with CP control on the disturbance rejection performance. The simulation results of the linear inverted pendulum model verify the effectiveness of the proposed method, and the use of eCPT to achieve a more stable gait of the robot.