MPC-based walking stability control for bipedal robots on uneven terrain

淡江大學機構典藏 > 工學院 > 電機工程學系暨研究所 > 期刊論文 > Item 987654321/126936

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题名:	MPC-based walking stability control for bipedal robots on uneven terrain
作者:	Liu, Chih-cheng;Lin, Yi-chung;Li, Chia-sheng
关键词:	Legged locomotion;Robots;Humanoid robots;Generators;Foot;Trajectory;Robot sensing systems;Predictive models;Stability criteria;Predictive control
日期:	2025-02-13
上传时间:	2025-03-20 09:31:45 (UTC+8)
摘要:	This paper proposes an algorithm capable of regenerating gait patterns online. The algorithm is designed using the Model Predictive Control (MPC) framework, with the Linear Inverted Pendulum Model as the basis of the predictive model. For bipedal robot walking, it divides ZMP (Zero Moment Point) constraints into single-leg support, double-leg support, and start-end phases, reformulating them into a complete quadratic programming problem. This approach allows for adjustments to both the foot placement and the timing of steps to maintain dynamic stability during walking. To address the limited contact force sensing capability between the robot and the ground in the gait generator, pressure sensors on both feet of the robot are used to monitor pressure distribution, adjusting the allocation of pressure between the feet accordingly. Finally, simulation and experimental results demonstrate the performance of the proposed method. The controller maintains dynamic stability for the bipedal robot when walking on either soft artificial grass or hard wooden boards.
關聯:	IEEE Access 13,　p.1-12
显示于类别:	[電機工程學系暨研究所] 期刊論文

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