Sensors (Basel). 2019 Aug 3;19(15):3407. doi: 10.3390/s19153407.
For collaboration of humans and bipedal robots in human environments, this paper proposes a stability control method for dynamically modifiable bipedal walking using a capture point (CP) tracking controller. A reasonable reference CP trajectory for the CP tracking control is generated using the real-time zero moment point (ZMP) manipulation without information on future footstep commands. This trajectory can be modified at any time during the single support phase according to a given footstep command. Accordingly, this makes it possible for the robot to walk stably with dynamically modifiable walking patterns, including sudden changes in navigational commands during the single support phase. A reference CP trajectory during the double support phase is also generated for continuity. The CP of the robot is controlled to track the reference trajectory using a ZMP-based CP tracking controller. The ZMP while walking is measured by the force-sensing resistor sensors mounted on the sole of each foot. A handling method for infeasible footstep commands is utilized so that the manipulated ZMP satisfies the allowable ZMP region for stability. The validity of the proposed method is verified through simulations and experiments.
为实现人类与双足机器人在人类环境中的协作，本文提出了一种使用捕获点（CP）跟踪控制器对动态可修改的双足步行进行稳定性控制的方法。通过实时零力矩点（ZMP）操纵生成合理的 CP 跟踪控制参考 CP 轨迹，无需关于未来步指令的信息。此轨迹可以在单支撑阶段的任何时间根据给定的步指令进行修改。因此，这使得机器人能够以动态可修改的步行模式稳定行走，包括单支撑阶段导航命令的突然变化。还生成了双支撑阶段的参考 CP 轨迹以保持连续性。使用基于 ZMP 的 CP 跟踪控制器控制机器人的 CP 以跟踪参考轨迹。通过安装在每个脚底的力感电阻传感器测量步行时的 ZMP。利用不可行的步指令处理方法，使得操纵的 ZMP 满足稳定性的允许 ZMP 区域。通过仿真和实验验证了所提出方法的有效性。
