Abstract The effect of center of mass (CoM) trajectory on stable walking of biped robot was studied in this study. The method of predictive control by controlling CoM trajectory to generate stable walking patterns was discussed, which simulated the principle of adjusting center of gravity in advance during human walking to adapt to the change of road conditions. As for uncertainty of robot modeling and the influence of environment, adding variable zero moment point for variable predictive control system can achieve self-adaptive adjustment of CoM trajectory to generate stable walking patterns. The simulation experiment results indicated that walking stability of biped robot was sensitive to the change of CoM trajectory. As long as CoM trajectory was adjusted well, stable walking of biped robot can be controlled even in the presence of disturbances. It is proved that the method of predictive control by controlling CoM motion to generate stable walking pattern is consistent with reality.

中文翻译：

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基于质心轨迹控制的双足机器人稳定行走

摘要 本研究研究了质心(CoM)轨迹对双足机器人稳定行走的影响。讨论了通过控制CoM轨迹产生稳定行走模式的预测控制方法，模拟了人类行走过程中提前调整重心以适应路况变化的原理。针对机器人建模的不确定性和环境的影响，在变量预测控制系统中加入变量零矩点，可以实现CoM轨迹的自适应调整，生成稳定的行走模式。仿真实验结果表明，双足机器人的行走稳定性对 CoM 轨迹的变化很敏感。只要调整好 CoM 轨迹，即使存在干扰，也可以控制双足机器人的稳定行走。