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Disturbance Adapting Walking Pattern Generation Using Capture Point Feedback Considering CoM Control Performance

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Abstract

To ensure that a humanoid robot can walk in complex environments, a robust walking pattern that responds to disturbances is essential. When generating the walking pattern, zero moment point (ZMP)-based walking pattern is most widely used, as it generates a center of mass (CoM) trajectory to locate the ZMP in the supporting polygon of the robot. However, tracking the predesigned reference ZMP may not result in a flexible response to disturbances. Hence, walking patterns that use a capture point (CP) were introduced to improve the robustness of walking, which typically control to track the reference CP. In this study, a method is adopted that updates the reference ZMP with the feedback of the CP. This method was used in our previous study on a ZMP-based preview approach that accounts for CoM tracking performance. The stability analysis of the proposed approach is derived, and its physical meaning is explained. The proposed approach is implemented on a humanoid robot referred to as DYROS-JET, demonstrating its improved robustness against disturbances.

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Acknowledgements

This work was supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government (MSIT) (No. 2021R1A2C3005914).

Funding

This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (No. 2021R1A2C3005914).

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Authors and Affiliations

  1. Department of Intelligence and Information, Seoul National University, 1 Gwanak-ro, Seoul, 08826, South Korea

    Myeong-Ju Kim, Daegyu Lim, Eunho Sung & Jaeheung Park

  2. Advanced Robotics Lab, ICT Technology Center, LG Electronics, 19 Yangjae-daero 11-gil, Seoul, 06772, South Korea

    Mingon Kim

  3. Advanced Institute of Convergence Science and Technology, 145 Gwanggyo-ro, Suwon, 16229, South Korea

    Jaeheung Park

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  1. Myeong-Ju Kim
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  5. Jaeheung Park
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Contributions

Conceptualization, Myeong-Ju Kim; data curation, Myeong-Ju Kim; formal analysis, Myeong-Ju Kim, Mingon Kim; funding acquisition, Jaeheung Park; investigation, Myeong-Ju Kim; methodology, Myeong-Ju Kim, Mingon Kim; project administration, Jaeheung Park; resources, Jaeheung Park; software, Myeong-Ju Kim; supervision, Jaeheung Park; validation, Myeong-Ju Kim, Jaeheung Park; visualization, Myeong-Ju Kim; writing-original draft preparation, Myeong-Ju Kim; writing-review and editing, Myeong-Ju Kim, Daegyu Lim, Eunho Sung, Jaeheung Park;

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Correspondence to Jaeheung Park.

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Kim, MJ., Kim, M., Lim, D. et al. Disturbance Adapting Walking Pattern Generation Using Capture Point Feedback Considering CoM Control Performance. J Intell Robot Syst 108, 22 (2023). https://doi.org/10.1007/s10846-023-01870-x

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