Walking Engine Using ZMP Criterion and Feedback Control for Child-Sized Humanoid Robot

摘要

In this paper, a walking engine that achieves dynamic stable walking using zero moment point (ZMP) criterion and feedback control from a gyro sensor is proposed. The ZMP criterion is used for the dynamic walking, and the feedback control from a gyro sensor is adopted for stabilization. The proposed walking engine consists of ZMP controller and the gait generator. The three-dimensional linear inverted pendulum model (3D-LIPM) is adopted for a simplified model of the humanoid robot. The ZMP equations are derived based on the 3D-LIPM and are applied to the gait generator. The walking engine is tested on a child-sized, 21-degree-of-freedom (DOF) humanoid robot cognitive humanoid autonomous robot with learning and evolutionary system (CHARLES) which stands 110[Formula: see text]cm tall and weighs only 8[Formula: see text]kg. The design concept of CHARLES is low development cost, lightweight, and simple design, which all match well with the proposed walking engine. The results of the experiments present the efficacy of the proposed walking engine.