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Preview Control-Based Online Walking Pattern Generation for Biped Robots with Vertical Center-of-Mass Motion

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Abstract

In this paper, we propose a method for generating the center-of-mass (CoM) pattern for biped robots. One of the most common methods for CoM pattern generation is to approximate the robot’s complex dynamics as alinear inverted pendulum model, applies preview controls, and generates CoM trajectories. However, the vertical motion of CoM is neglected during this approximation process. In this study, we formulate the preview control problem considering the dynamics of the CoM vertical motion and propose an algorithm to solve it. The results of numerical experiments to evaluate the proposed algorithm show it is more stable than the existing algorithm and can be sufficiently fast for online operation.

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Acknowledgements

This work was supported by the Research Grant of Kwangwoon University in 2018, the National Research Foundation of Korea (NRF), funded by the Ministry of Education (No. NRF-2018R1D1A 1B07042833), and the National Research Foundation of Korea grant, funded by the Korea government(MSIT) (No. NRF-2019R1A 4A1029003).

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  1. School of Robotics, Kwangwoon University, Seoul, South Korea

    Kunhee Ryu, Jehwi Yoo, Juhoon Back & Ill-Woo Park

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  1. Kunhee Ryu
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  2. Jehwi Yoo
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  4. Ill-Woo Park
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Correspondence to Ill-Woo Park.

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Ryu, K., Yoo, J., Back, J. et al. Preview Control-Based Online Walking Pattern Generation for Biped Robots with Vertical Center-of-Mass Motion. Int. J. Precis. Eng. Manuf. 21, 1653–1661 (2020). https://doi.org/10.1007/s12541-020-00378-w

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