Biped walking control design based on zero moment point dynamics
Fan, Yinai
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https://hdl.handle.net/2142/97512
Description
Title
Biped walking control design based on zero moment point dynamics
Author(s)
Fan, Yinai
Issue Date
2017-04-28
Director of Research (if dissertation) or Advisor (if thesis)
Hutchinson, Seth
Department of Study
Mechanical Sci & Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Biped walking
Zero moment point
Abstract
Biped walking control for humanoid robots has been a challenging yet promising research topic in the past decades. The complicated nonlinear dynamics and numerous degrees of freedom are the main obstacles for biped walking control. This thesis studies the complete control scheme of biped walking control based on Zero Moment Point dynamics. Starting with basic de nitions, a new trajectory planning method using boundedness solutions of Linear Inverted Pendulum Model is studied and implemented as a replanning algorithm. Stabilizers for walking trajectory tracking are investigated and evaluated, with an emphasis on the Whole Body Cooperation method, which is then implemented along with the replanning algorithm in simulations.
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