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Title: A modular framework to generate robust biped locomotion: from planning to control
Authors: Kasaei, Mohammadreza
Ahmadi, Ali 
Lau, Nuno
Pereira, Artur 
Keywords: Dynamics model; Humanoid robots; Model Predictive Control (MPC); Robust biped locomotion
Issue Date: 2021
Publisher: Springer Nature
Project: SFRH/BD/118438/2016 
Serial title, monograph or event: SN Applied Sciences
Volume: 3
Issue: 9
Abstract: Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This paper proposes a model-based framework to generate stable biped locomotion. The core of this framework is an abstract dynamics model which is composed of three masses to consider the dynamics of stance leg, torso, and swing leg for minimizing the tracking problems. According to this dynamics model, we propose a modular walking reference trajectories planner which takes into account obstacles to plan all the references. Moreover, this dynamics model is used to formulate the controller as a Model Predictive Control (MPC) scheme which can consider some constraints in the states of the system, inputs, outputs, and also mixed input-output. The performance and the robustness of the proposed framework are validated by performing several numerical simulations using MATLAB. Moreover, the framework is deployed on a simulated torque-controlled humanoid to verify its performance and robustness. The simulation results show that the proposed framework is capable of generating biped locomotion robustly.
ISSN: 2523-3963
DOI: 10.1007/s42452-021-04752-9
Rights: openAccess
Appears in Collections:I&D ISR - Artigos em Revistas Internacionais

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