Stabilization method for dynamic gait in bipedal walking robots

摘要

This paper presents a novel algorithm to stabilize a bipedal robot while performing dynamic walking. The problem is divided into the formulation of translational and rotational stabilizers. This work is focused in the translational stabilizer, thus, time-dependent functions based in the zero-moment point stability criterion are established to define a desired steady state system for the mathematical model of the robot. Then, a control law based in sliding mode technique is used in order to perform the translational tracking of the desired trajectory while adjusting the center of mass. With this approach, the solution of complex non-linear algebraic equations is avoided, adding robustness due parametric variations. In order to prove the effectiveness of our algorithm, the stabilization proposed was tested in the REEM-C biped humanoid robot research platform inside a physics engine using ROS and Gazebo.