Richard Beranek, Henry Fung, and Mojtaba Ahmadi
Bipedal control, centroidal moment pivot
A novel bipedal locomotion controller based on the centroidal moment pivot (CMP) with ground reaction force feedback is presented. A reference CMP position is planned and a corresponding centre of mass (COM) trajectory is calculated based on the reference CMP. Tracking the reference COM motion results in a net moment acting on the biped that will move the measured CMP to its reference trajectory. This control approach implicitly regulates the angular momentum of the robot under disturbances and increases the robustness of the robot to external disturbances. Dynamic simulation results show that the proposed controller can generate stable walking gaits and increase disturbance robustness by up to 100% compared to a ZMP-based controller.
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