Dong, Sheng and Yuan, Zhaohui and Yu, Xiaojun and Zhang, Jianrui and Sadiq, Muhammad Tariq and Zhang, Fuli (2019) On-Line Gait Adjustment for Humanoid Robot Robust Walking Based on Divergence Component of Motion. IEEE Access, 7. pp. 159507-159518. DOI https://doi.org/10.1109/access.2019.2949747
Dong, Sheng and Yuan, Zhaohui and Yu, Xiaojun and Zhang, Jianrui and Sadiq, Muhammad Tariq and Zhang, Fuli (2019) On-Line Gait Adjustment for Humanoid Robot Robust Walking Based on Divergence Component of Motion. IEEE Access, 7. pp. 159507-159518. DOI https://doi.org/10.1109/access.2019.2949747
Dong, Sheng and Yuan, Zhaohui and Yu, Xiaojun and Zhang, Jianrui and Sadiq, Muhammad Tariq and Zhang, Fuli (2019) On-Line Gait Adjustment for Humanoid Robot Robust Walking Based on Divergence Component of Motion. IEEE Access, 7. pp. 159507-159518. DOI https://doi.org/10.1109/access.2019.2949747
Abstract
As the first step for biped robots to enter the human life, robust walking is a difficult problem to be solved owing to the various algorithms and practical engineering issues being involved. This paper studies the robust walking problem for humanoid robots by using the divergence component of motion (DCM) method based on linear inverted pendulum model. Firstly, we implement a DCM trajectory planning method to simplify the planning process. It calculates the DCM trajectories under the requirements of walking speed and initial state of the system. Then, a DCM feedback controller with anti-disturbance ability is proposed to realize the tracking control of the planned trajectory. Finally, the optimization method and DCM feedback control are integrated into a hybrid optimization controller, which takes into account the step adjustment and the step duration adjustment of the robot. Simulation results demonstrates that the technique can act naturally stable inside an enormous scope of effect unsettling influences, the maximum recoverable impact of a humanoid robots with a mass of 70Kg can reach 85Ns, which is much better than the 20Ns of the existing model-based prediction control method.
Item Type: | Article |
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Uncontrolled Keywords: | Legged locomotion; Trajectory; Optimization; Planning; Humanoid robots; Real-time systems; Biped robot; humanoid robot; divergence component of motion (DCM); gait generation; adaptive step duration |
Divisions: | Faculty of Science and Health > Computer Science and Electronic Engineering, School of |
SWORD Depositor: | Unnamed user with email elements@essex.ac.uk |
Depositing User: | Unnamed user with email elements@essex.ac.uk |
Date Deposited: | 01 Apr 2025 14:02 |
Last Modified: | 01 Apr 2025 14:02 |
URI: | http://repository.essex.ac.uk/id/eprint/38047 |
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Licence: Creative Commons: Attribution 4.0