Gait Planning and Control of a Biped Robot with Walking Pattern Generator and Auxiliary ZMP

Abstract

The aim of this paper is to use force/torque sensors and an attitude sensor to achieve gait closed-loop feedback control for a bipedal robot. In gait planning, the walking pattern generator is used to generate the center of the mass movement path. In footstep planning, the cycloidal profile is used to obtain the foot’s plate trajectory equation. An inertial measurement unit (IMU) sensor measures attitude changes during walking, and measured data is sent back to an industrial computer for feedback control. Force/torque sensors are used to obtain the zero moment point (ZMP) of the biped robot, and it is an essential factor for evaluating the robot’s stability. Finally, the ability and stability of the biped robot walking on the ground are tested with the auxiliary ZMP control method. Performance comparison between the open loop control and closed-loop control is made. It is shown that the stability of the gait of the biped robot is improved by the closed-loop control using auxiliary ZMP.