Walking stability control of biped robot based on three mass with angular momentum model using predictive PID control

摘要

Humanoid robotics is a significant field in the robotic research. In spite of all its applications, one of the key issues for humanoid robots is its walking stability. Many walking strategies have been proposed in order to solve the problem, of which Zero Moment Point (ZMP) based walking is the most dominant one. This paper presents stability control of a biped robot based on three-mass modelling with ZMP criterion. Since the controlling strategy and real time implementation for MPC is difficult, here a predictive PID controller is proposed for tracking. In this paper, the system is modelled with three mass points: the Centre of Mass(CoMs) of the body, the right leg, and the left leg along with their angular momentum in order to reduce the modelling errors. Predictive PID controller is designed for the humanoid robot for achieving the required tracking control and the simulation results show the effectiveness of the projected method.