Walking Control of Telescopic Leg Bipedal Robot Based on Angular Momentum Predictive Foothold

摘要

In the field of bipedal locomotion control, the Linear Inverted Pendulum Model (LIPM) is widely applied to approximate the walking dynamics of bipedal robots. The linear velocity of the center of mass serves as a controlled state variable, enabling real-time high-dynamic control. This paper introduces a solution that adopts a lateral segmented structure and a telescopic leg design for a five-degree-of-freedom underactuated bipedal model, aiming to reduce the number of motors and the overall mass of the robot. A LIPM based on angular momentum prediction is devised, amalgamating foot position prediction with angular momentum. Due to the inherent inaccuracy in modeling the inverted pendulum, the dynamics and kinematics cannot be intimately correlated with the specific bipedal robot model. As a response, this paper introduces the concept of moment of inertia into the robot control process, significantly enhancing the robot’s structural integrity. In contrast to the traditional centroid linear velocity control model, this approach incorporates moment of inertia, thereby improving feedback control effectiveness. The experimental results demonstrate that incorporating moment of inertia in this model enables stable responses during horizontal plane locomotion disturbances. Overall, this study introduces an innovative perspective for controlling retractable biped robot gaits.