Robust and high-mobility walking control for uneven terrain without zero-moment-point feedback

摘要

This paper introduces a novel control system of bipedal robots on uneven terrain. Since this method does not require to measure Zero Moment Point (ZMP), the tracking performance of the controller is not deteriorated by the noise on a measured ZMP. Moreover, the robot withstands frequent perturbations because of its two-degree-of-freedom structure. The robot is stabilized by Center of Mass (COM) regulation while the ZMP is implicitly designed by using a multi-rate controller. In addition, the foot placement is adaptively determined by predicting the ZMP position to establish stepping responses to perturbations. The performance of the proposed method is tested by using a robot programed accordingly.