Integrated Footstep Planning and CoM Control for Enhanced Stability and Maneuverability in EROS Humanoid Robot

摘要

This paper presents the implementation of a footstep planner and Center of Mass (CoM) control on the EROS (EEPIS Robot Soccer) humanoid robot utilizing a multibody system model. The objective is to enhance the robot's stability and maneuverability during dynamic walking. The footstep planner algorithm is designed to generate optimal step sequences based on the robot's kinematic constraints and environmental conditions. Concurrently, the CoM control strategy ensures balanced movement by dynamically adjusting the robot's posture and distribution of mass. The multibody system model provides a comprehensive framework for simulating the complex interactions between the robot's joints and links. Experimental results demonstrate improvements in the EROS robot's walking performance especially in odometry measurement and robot stability, highlighting the importance of integrating footstep planning with CoM control. This study contributes to advancing humanoid robotics by addressing the challenges of stability and locomotion control.