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By Armando Carlos de Pina Filho

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Control of walking robots based on manipulation of the zero moment point, Robotica 18(06): 651–657. , Inoue, H. & Inaba, M. (1999). Dynamic walking pattern generation for a humanoid robot based on optimal gradient method, Proc. of 1999 IEEE International Conference on Systems, Man and Cybernetics 6. Napoleon, S. & Sampei, M. (2002). Balance control analysis of humanoid robot based on ZMP feedback control, Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems pp.

2001) proposed the method for a three-link model, only two outputs are controlled, the reference are expressed as a function of the biped state. Zero dynamics with an impact event of the controlled system were analyzed by Poincaré method. 1 left) with point feet. Westervelt, et al. , 2005) gave some additional results to show capability for robustness, changing average walking rate, and rejecting a perturbation by ’one-step transition control’ and ’event-based control’. In the field of passive dynamic walking mechanisms (McGeer, 1990), it is shown that a biped with large radius circular arc feet can take easily a lot of steps.

Its reference trajectories are set as follows. The hip joint of the swing leg is held in its neutral position, whereas that of the support leg is extended 30 [deg] from its neutral position in 8 [s], and then, returned to the neutral position again in 8 [s], which is represented by the fifth-order polynomial equation of the time. The ankle joint of the swing leg is controlled so that its sole becomes parallel to the ground at the end of the single-support phase. The control mode is switched when the hip joint angle reaches a neutral position.

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