JZUS - Journal of Zhejiang University SCIENCE

Journal of Zhejiang University SCIENCE A

Accepted manuscript available online (unedited version)

COM trajectory planning and disturbance-resistant control of a bipedal robot based on CP-ZMP-COM dynamics

Author(s): Chunbiao GAN, Zijing LI, Yimin GE, Mengyue LU
Affiliation(s): State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China; more
Corresponding email(s): cb_gan@zju.edu.cn
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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,in press.Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/jzus.A2400062

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author="Chunbiao GAN, Zijing LI, Yimin GE, Mengyue LU",
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year="in press",
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%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
%P 492-498
%@ 1673-565X
%D in press
%I Zhejiang University Press & Springer
doi="https://doi.org/10.1631/jzus.A2400062"

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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
SP - 492
EP - 498
%@ 1673-565X
Y1 - in press
PB - Zhejiang University Press & Springer
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doi="https://doi.org/10.1631/jzus.A2400062"

Abstract
Chinese Summary
Academic Network
Reviewer Comment

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.

基于CP-ZMP-COM动力学的双足机器人质心轨迹规划及抗扰动控制

作者：甘春标^1,2，李子静^1,2，葛一敏^1,2，卢梦月^1,2
机构：¹浙江大学机械工程学院，流体动力与机电系统国家重点实验室，中国杭州，310058;²浙江大学机械工程学院，浙江省先进制造技术重点实验室，中国杭州，310058
目的：通过对成人行走过程中矢状面与冠状面内质心轨迹的分析，本文探索双足机器人自由、灵活行走的步态规划方法，并实现对其受意外外力干扰下的稳定行走。
方法：在基于线性倒立摆模型的双足机器人运动控制中，质心、零力矩点和捕获点是实现双足机器人稳定行走的重要因素。1.通过对矢状面与冠状面内质心运动轨迹的分析，建立双足机器人CP-ZMP-COM动力学模型，由此计算期望的双足机器人质心、零力矩点和捕获点，进而提出一种改进的双足机器人质心轨迹规划方法；2.提出双足机器人在矢状面与冠状面内运动协调的抗扰动反馈补偿控制方法，对双足机器人质心和捕获点位置进行反馈补偿，使双足机器人质心和捕获点轨迹能够在后续支撑切换时逼近理想状态；3.通过小型双足机器人样机及其仿真模型，对改进的双足机器人质心轨迹规划方法及抗扰动反馈补偿控制方法进行行走仿真与实验验证。
结论：1.改进的双足机器人质心轨迹规划方法可用于实现小型双足机器人横行、斜行及原地转圈等灵活行走；2.基于所提出的抗扰动反馈补偿控制方法，小型双足机器人受随机脉冲外力下横行、斜行及原地转圈时仍能保持稳定而不摔倒。

关键词组：双足机器人；CP-ZMP-COM动力学；质心轨迹规划；反馈补偿控制

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Reference

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基于CP-ZMP-COM动力学的双足机器人质心轨迹规划及抗扰动控制

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