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JRM Vol.25 No.5 pp. 831-839
doi: 10.20965/jrm.2013.p0831
(2013)

Paper:

Switching Control Method for Stable Landing by Legged Robot Based on Zero Moment Point

Naoki Motoi, Kenta Sasahara, and Atsuo Kawamura

Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 240-8501, Japan

Received:
January 23, 2013
Accepted:
June 13, 2013
Published:
October 20, 2013
Keywords:
legged robot, biped robot, switching control, ZMP, hysteresis control
Abstract

This paper proposes a switching control method to achieve a smooth transition from an edge landing to a sole landing for a legged robot. When a biped robot walks, an undesirable condition at the moment of landing, such as hunting between the ground and the foot, may occur for several reasons. To avoid this condition, this paper focuses on a method that uses simple controllers to ensure a smooth transition from an edge landing to a sole landing. In the event of an edge landing, a force controller should be implemented for a smooth transition to a sole landing. This is because the force controller enables the foot to contact the ground softly. After the landing state is shifted to the sole landing, the control method should be changed to the position controller. Therefore, it is necessary to switch the control method according to the contact condition between the foot and the ground. To avoid the chattering of the controller switching, several hysteresis values are used for the zeromoment point (ZMP) position and ZMP velocity in the switching function. Simulations and experimental results confirmed the validity of the proposed method.

Cite this article as:
Naoki Motoi, Kenta Sasahara, and Atsuo Kawamura, “Switching Control Method for Stable Landing by Legged Robot Based on Zero Moment Point,” J. Robot. Mechatron., Vol.25, No.5, pp. 831-839, 2013.
Data files:
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