Future ZMP Trajectory Optimization with Simultaneous Multi-Strategy Adjustment for Humanoid Walking Balance
Date Issued
2015
Date
2015
Author(s)
Wang, Bang-Cheng
Abstract
Humanoid walking balance has been a challenging issue in the control field since the balance can only be achieved by considering the dynamics of the system. It is found that the modification of the future ZMP trajectory based on the multiple strategies, which are the adjustment of the control input, the step size and the step duration, can enhance the robot balance. However, the capacity of the disturbance compensation is limited due to the fact that the correlation among the strategies is not considered. In this work, the correlation among the three strategies is analyzed, and the future ZMP trajectory optimization with simultaneous multi-strategy adjustment for humanoid walking balance is proposed. After defining an energy function for the robot balance, an optimized trajectory based on the simultaneous adjustment is generated. By comparing our work with the state-of-the-art future ZMP trajectory modification approaches, it is shown that our approach can maintain the robot balance under more severe situations.
Subjects
Humanoid
Walking
ZMP
Type
thesis
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