Biped walking over rough terrain by adaptive ground reference map

Abstract

In this paper, we propose a constructive and robust control design for online stabilization of biped robot dynamic motion, especially walking on rough or uneven terrains. We proposed an online moving ground reference map based on both present and future information, which is obtained via minimizing the error of the footstep, and the error of the position and velocity of the Center of Mass (CoM) of the robot. By applying this reference map, robust CoM trajectories can be generated based on preview control. The dynamic simulation results show that the proposed approach can significantly improve walking stability and minimize the error in tracking the pre-defined trajectory even on uneven terrains. The technique is very general and can be applied to a wide variety of humanoid robots. Copyright © 2013 by World Scientific Publishing Co. Pte. Ltd.