Omnidirectional walking based on preview control for biped robots

Abstract

The zero moment point (ZMP) control method is usually used in stable biped walking. A novel preview control of ZMP is proposed in the paper. First, the dynamics of a biped robot is modeled as a running cart on the table which gives a convenient representation to treat ZMP. Second, the walking pattern generation process is describes in details and a presented preview controller is introduced to reduce zero steady-state error significantly. Third, several patterns in the omnidirectional walking including support-foot and swing-foot are discussed respectively. In order to demonstrate the effectiveness of this approach, the proposed approach is validated via simulations and experiments on a NAO humanoid robot. The webots simulation results verify the feasibility of the proposed control scheme in the stable and robust walking.