Biped walking control design based on zero moment point dynamics

Biped walking control for humanoid robots has been a challenging yet promising research topic in the past decades. The complicated nonlinear dynamics and numerous degrees of freedom are the main obstacles for biped walking control. This thesis studies the complete control scheme of biped walking control based on Zero Moment Point dynamics. Starting with basic de nitions, a new trajectory planning method using boundedness solutions of Linear Inverted Pendulum Model is studied and implemented as a replanning algorithm. Stabilizers for walking trajectory tracking are investigated and evaluated, with an emphasis on the Whole Body Cooperation method, which is then implemented along with the replanning algorithm in simulations.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2017

Author dc:creator

• Fan, Yinai

Contributors dc:contributor

• Hutchinson, Seth

• Biped walking
• Zero moment point

Statement dc:rights

• Copyright 2017 Yinai Fan

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/97512

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/97512