A first step of humanoid's walking by two degree-of-freedom generalized predictive control combined with Visual Lifting Stabilization

Akira Yanou, Mamoru Minami, Tomohide Maeba, Yosuke Kobayashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Biped locomotion created by a controller based on Zero-Moment Point (ZMP) known as reliable control method looks different from human's walking on the view point that ZMP-based walking does not include falling state. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, keeping the walking of dynamical motion stable is inevitable issue for realization of human-like natural walking - we call the humans' walking that includes turning over states as 'natural.' In our research group, walking model including slipping, impact, surface-contacting and point-contacting of foot has been developed. Although 'Visual Lifting Stabilization' (VLS) strategy has been also proposed in order to enhance standing robustness and prevent the robot from falling down without utilizing ZMP, the torque generation strategy making lifted-leg step forward is derived by trial and error. Therefore, as a first step to realize humans' walking, this paper explores two degree-of-freedom generalized predictive control (GPC) method in order to generate the torque making lifted-leg step forward. Simulation results indicate that this strategy helps stabilize bipedal walking even though ZMP is not kept inside convex hull of supporting area.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages6359-6364
Number of pages6
DOIs
Publication statusPublished - Dec 1 2013
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: Nov 10 2013Nov 14 2013

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period11/10/1311/14/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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