Regular Papers

International Journal of Control, Automation and Systems 2010; 8(2): 339-351

Published online April 16, 2010

https://doi.org/10.1007/s12555-010-0220-x

© The International Journal of Control, Automation, and Systems

Trajectory Generation and Control for a Biped Robot Walking Upstairs

Chan-Soo Park, Taesin Ha, Joohyung Kim, and Chong-Ho Choi

Seoul National University, Korea

Abstract

This paper presents an effective and systematic trajectory generation method, together with a control method for enabling a biped robot to walk upstairs. The COG (center of gravity) trajectory is generated by the VHIPM (virtual height inverted pendulum mode) for the horizontal motion and by a 6th order polynomial for the vertical motion; an ankle compliance control (ACC) is also added into the robot control. The proposed methods are evaluated by simulations as well as being implemented in a robot for the performance verification. The results show that the proposed methods can generate stable motions when walking upstairs, and these can significantly reduce the zero moment point (ZMP) errors compared with other methods, enabling the robot to walk up steeper stairs.

Keywords Biped robot, compliance control, humanoid, stair walking, trajectory generation, ZMP.

Article

Regular Papers

International Journal of Control, Automation and Systems 2010; 8(2): 339-351

Published online April 1, 2010 https://doi.org/10.1007/s12555-010-0220-x

Copyright © The International Journal of Control, Automation, and Systems.

Trajectory Generation and Control for a Biped Robot Walking Upstairs

Chan-Soo Park, Taesin Ha, Joohyung Kim, and Chong-Ho Choi

Seoul National University, Korea

Abstract

This paper presents an effective and systematic trajectory generation method, together with a control method for enabling a biped robot to walk upstairs. The COG (center of gravity) trajectory is generated by the VHIPM (virtual height inverted pendulum mode) for the horizontal motion and by a 6th order polynomial for the vertical motion; an ankle compliance control (ACC) is also added into the robot control. The proposed methods are evaluated by simulations as well as being implemented in a robot for the performance verification. The results show that the proposed methods can generate stable motions when walking upstairs, and these can significantly reduce the zero moment point (ZMP) errors compared with other methods, enabling the robot to walk up steeper stairs.

Keywords: Biped robot, compliance control, humanoid, stair walking, trajectory generation, ZMP.

IJCAS
February 2024

Vol. 22, No. 2, pp. 347~729

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