Dynamic walking control by using the liquid level model and the preview of zero-moment-point

摘要

This electronic document presents the application of a novel method of bipedal walking pattern generation assured by “the liquid level model” and the preview control of zero-moment-point (ZMP). In this method, the trajectory of the center of mass (CoM) of the robot is generated assured by the preview controller to maintain the ZMP at the desired location knowing that the robot is modeled as a running liquid level model on a tank. The proposed approach combines the preview control theory with simple model “the liquid level model”, to assure a stable dynamic walking. Simulations results show that the proposed pattern generator guarantee not only to walk dynamically stable but also good performance.