Stepping Stabilization Using a Combination of DCM Tracking and Step\n Adjustment

2016/09/30 by Majid Khadiv, Sébastien Kleff, Khadiv, Majid +9 · 1 citation
Engineering · #Robotic Locomotion and Control #Hydraulic and Pneumatic Systems #Soil Mechanics and Vehicle Dynamics

paper · pdf · doi:10.48550/arxiv.1609.09822

Abstract

In this paper, a method for stabilizing biped robots stepping by a\ncombination of Divergent Component of Motion (DCM) tracking and step adjustment\nis proposed. In this method, the DCM trajectory is generated, consistent with\nthe predefined footprints. Furthermore, a swing foot trajectory modification\nstrategy is proposed to adapt the landing point, using DCM measurement. In\norder to apply the generated trajectories to the full robot, a Hierarchical\nInverse Dynamics (HID) is employed. The HID enables us to use different\ncombinations of the DCM tracking and step adjustment for stabilizing different\nbiped robots. Simulation experiments on two scenarios for two different\nsimulated robots, one with active ankles and the other with passive ankles, are\ncarried out. Simulation results demonstrate the effectiveness of the proposed\nmethod for robots with both active and passive ankles.\n

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