ABSTRACT This paper proposes a robust biped control to track the desired foot-placements, which is suitable to locomotion in complex environments. A strategy to determine the referential ZMP based only on the next pivot point and the capturability at the moment of landing improves the mobility of the robot by exploiting narrow footprints. It can run in submilliseconds since the optimal ZMP is analytically obtained from the current state of the center of mass (COM), time to land, and the desired landing position. The method does neither refer any preplanned motion trajectory nor feedback the acceleration of the COM. Thus, the robot exhibits flexible behaviors against perturbations. Although the constraint on the ZMP to be within the supporting region is not taken into account in the optimization, a post-process to saturate it by the region works in many situations. Even in severe situations where this does not work, accompanied techniques to automatically adjust the landing position and the time to land prevents the robot from falling. An enhancement of the controller based on the N-step capturability with a technique to encourage smoother manipulation of the ZMP is also proposed in order to locomote on very limited footholds. GRAPHICAL ABSTRACT

中文翻译：

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通过 ZMP 操作对双足机器人进行足部引导控制

摘要本文提出了一种鲁棒的双足控制来跟踪所需的足部放置，适用于复杂环境中的运动。仅基于下一个枢轴点和着陆时的可捕获性来确定参考 ZMP 的策略通过利用狭窄的足迹提高了机器人的移动性。它可以在亚毫秒内运行，因为最佳 ZMP 是从质心 (COM) 的当前状态、着陆时间和所需着陆位置分析获得的。该方法既不参考任何预先计划的运动轨迹，也不反馈 COM 的加速度。因此，机器人对扰动表现出灵活的行为。虽然在优化中没有考虑 ZMP 在支持区域内的约束，通过区域使其饱和的后处理在许多情况下都有效。即使在这不起作用的严重情况下，自动调整着陆位置和着陆时间的技术也可以防止机器人坠落。为了在非常有限的立足点上移动，还提出了基于 N 步可捕获性的控制器的增强，以及一种鼓励更平滑地操纵 ZMP 的技术。图形概要