Control of Biped Robot with Direct Regulation of the Zero Moment Point

Consider a biped evolving in the sagittal plane. The unexpected rotation of the supporting foot can be avoided by controlling the zero moment point (ZMP). The objective of this study is to propose and analyze a control strategy for simultaneously regulating the position of the ZMP and the joints of the robot. If the tracking requirements were posed in the time domain, the problem would be underactuated in the sense that the number of inputs would be less than the number of outputs. In this issue, the proposed controller is based on a path-following control strategy

Keywords:

Biped robot , periodic motion , pathfollowing control , underactuated systems , zero moment point