Improvement of Walking Performance of the Biped Robot Based on HSIC in Port Environment

摘要

Jing, C. and Zheng, J., 2020. Improvement of walking performance of the biped robot based on HSIC in port environment. In: Yang, Y.; Mi, C.; Zhao, L., and Lam, S. (eds.), Global Topics and New Trends in Coastal Research: Port, Coastal and Ocean Engineering. Journal of Coastal Research, Special Issue No. 103, pp. 793–797. Coconut Creek (Florida), ISSN 0749-0208.The generation of walking patterns based on predictive control realizes the control with the use of future information, which also conforms to the principle of human walking process in accordance with future road conditions. However, the target ZMP of the predictive controller is always off-line programmed in advance. Due to the model error and environmental disturbance, gait tracking error of the biped robot in walking process is inevitable. Considering that human-simulated intelligent control (HSIC) can well suppress error, this study designed a human-simulated predictive control (HSPC) system by combining HSIC and predictive control. The control variables can be switched based on ZMP error state so as to realize the control of dynamic system. Therefore, actual ZMP output can well track the expected value of variable ZMP to realize the stable walking of the biped robot, and also adapt to the complex environments such as port robot operation. Finally, the effectiveness of the designed HSPC was validated through simulation.