Biped Robot with Online Trajectory Generation Walking on Uneven Terrain
Date Issued
2014
Date
2014
Author(s)
Lin, Che-I
Abstract
Biped robot is definitely a more powerful moving platform, because it can not only move indoor but also overcome some uneven ground in outdoor environments. Compared with wheeled robot in indoor environment, biped robot has greater advantagesofmoving capabilities, such as going upstairs and downstairs, stepping over obstacles, and so on. Moreover, wheeled robot can only move in flat ground. If there is a cable line or small obstacle on the ground, wheeled robot has to change its path to pass it. However, biped robot don’t need to change its walking path, it can overcome the uneven terrain by the adaptation method.
The objective of this research is to develop an online trajectory generator with foot adaptation method and pole-zero cancellation using series approximation method to generate walking patterns for walking on uneven terrain. By the use of pole-zero cancellation using series approximation method, it can overcome the sudden change of ZMP reference.
Furthermore, the pole-zero cancellation method is designed to reduce the undesirable effect which is the initial-undershoot response of ZMP output by cancelling the unstable zeros in the control system. In addition, the proposed landing control reduces the contact force effect and enhances the stability of biped walking. Besides, the online sensory feedback control system with proposed online foot adaptation method can adapt to unknown walking surface instantly. The proposed control system and adaptation method are verified and successfully demonstrated.
Subjects
雙足機器人
前饋控制
回饋控制
軌跡產生器
不平穩地面
Type
thesis
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