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On-line Access: 2025-05-30
Received: 2024-02-02
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COM trajectory planning and disturbance-resistant control of a bipedal robot based on CP-ZMP-COM dynamics
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Chunbiao GAN, Zijing LI, Yimin GE, Mengyue LU. COM trajectory planning and disturbance-resistant control of a bipedal robot based on CP-ZMP-COM dynamics[J]. Journal of Zhejiang University Science A, 2025, 26(5): 492-498.
@article{title="COM trajectory planning and disturbance-resistant control of a bipedal robot based on CP-ZMP-COM dynamics",
author="Chunbiao GAN, Zijing LI, Yimin GE, Mengyue LU",
journal="Journal of Zhejiang University Science A",
volume="26",
number="5",
pages="492-498",
year="2025",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A2400062"
}
%0 Journal Article
%T COM trajectory planning and disturbance-resistant control of a bipedal robot based on CP-ZMP-COM dynamics
%A Chunbiao GAN
%A Zijing LI
%A Yimin GE
%A Mengyue LU
%J Journal of Zhejiang University SCIENCE A
%V 26
%N 5
%P 492-498
%@ 1673-565X
%D 2025
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A2400062
TY - JOUR
T1 - COM trajectory planning and disturbance-resistant control of a bipedal robot based on CP-ZMP-COM dynamics
A1 - Chunbiao GAN
A1 - Zijing LI
A1 - Yimin GE
A1 - Mengyue LU
J0 - Journal of Zhejiang University Science A
VL - 26
IS - 5
SP - 492
EP - 498
%@ 1673-565X
Y1 - 2025
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A2400062
Abstract: To date, in model-based gait-planning methods, the dynamics of the center of mass (COM) of bipedal robots have been analyzed by establishing their linear inverted pendulum model (LIPM) or extended forms. With regard to model-based gait-generation methods for uphill and downhill terrain, Kuo simulated human gait using an inverted pendulum, which provided a circular trajectory for the COM rather than a horizontal trajectory. He found that a horizontal COM trajectory consumed more muscle energy. Massah et al. utilized a 3D LIPM and the concept of zero moment point (ZMP). They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform.
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