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Dynamic Bipedal Walking Using Real-Time Optimization of Center of Mass Motion and Capture Point-Based Stability Controller
Journal of Intelligent & Robotic Systems ( IF 3.3 ) Pub Date : 2021-11-06 , DOI: 10.1007/s10846-021-01468-1
Si-Hyun Kim 1 , Young-Dae Hong 1
Affiliation  

This paper proposes a walking pattern generator and a stabilization method for the dynamic walking of a bipedal robot. The capture point (CP) and center of mass (CoM) trajectories were optimized in real-time by using particle swarm optimization, and a desired zero-moment point (ZMP) can be freely generated within a certain area of the support foot by using the proposed method. Unlike a previous method, which optimized only the reference CP trajectory to generate the optimal desired ZMP, the proposed method optimizes the reference CP and the CoM trajectories simultaneously. Consequently, the control input size for tracking the reference CP trajectory is reduced, resulting in reduced CP error. The ZMP error could be reduced as the CoM acceleration was optimally determined to achieve the desired ZMP. In this process, it is possible to ensure that the measured ZMPs can be obtained in the area where a desired ZMP is to be generated, and the robot can walk stably even with reduced feet. The performance of the proposed walking pattern generator and stabilization method based on optimization was verified using a robot simulator, Webots. It was confirmed that in the case of the proposed method, the measured ZMPs are guaranteed to be within the desired area and the control performance of the CP and ZMP is improved.



中文翻译:

使用质心实时优化和基于捕获点的稳定性控制器的动态双足行走

本文提出了一种用于双足机器人动态行走的行走模式生成器和稳定方法。通过粒子群优化实时优化捕获点(CP)和质心(CoM)轨迹,并在支撑脚的特定区域内自由生成所需的零力矩点(ZMP)。建议的方法。与仅优化参考 CP 轨迹以生成最佳所需 ZMP 的先前方法不同,所提出的方法同时优化参考 CP 和 CoM 轨迹。因此,用于跟踪参考 CP 轨迹的控制输入大小减少,从而减少了 CP 误差。ZMP 误差可以减少,因为 CoM 加速度被最佳确定以实现所需的 ZMP。在这个过程中,可以确保在要生成所需 ZMP 的区域中可以获得测量的 ZMP,并且机器人即使在减少脚的情况下也可以稳定行走。使用机器人模拟器 Webots 验证了所提出的基于优化的步行模式生成器和稳定方法的性能。经证实,在所提出的方法的情况下,测量的 ZMP 保证在所需的区域内,并且提高了 CP 和 ZMP 的控制性能。

更新日期:2021-11-07
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