TY - JOUR
T1 - Perfect tracking of ZMP trajectory for humanoid locomotion using repetitive control
AU - Sayari, Mohamed A.
AU - Zaier, Riadh
AU - Masmoudi, Neila
N1 - Funding Information:
The authors acknowledge The Research Council of Oman for their financial support.
Funding Information:
The authors acknowledge The Research Council of Oman for their financial support.
Publisher Copyright:
© 2019, KSME & Springer.
PY - 2019/12/1
Y1 - 2019/12/1
N2 - In this paper, the tracking of the zero moment point (ZMP) trajectory for humanoid locomotion is addressed. For that, a combination of a repetitive controller (RC) and a linear quadratic regulator (LQR) is proposed. The RC controller achieves a zero steady state tracking error for any periodic desired output with a fixed period. Here, the robot model is simplified as a cart table model. In the first stage, a walking pattern with constant gait is considered to allow the use of a repetitive controller. The results are then compared to a classical PD control. In the second part, the proposed controller is applied to track a desired ZMP profile generated using a central pattern generator (CPG). Here, the speed of the oscillator is adjusted via a proper selection of the parameters of the CPG and the RC design is simultaneously updated to assure the perfect tracking of the ZMP.
AB - In this paper, the tracking of the zero moment point (ZMP) trajectory for humanoid locomotion is addressed. For that, a combination of a repetitive controller (RC) and a linear quadratic regulator (LQR) is proposed. The RC controller achieves a zero steady state tracking error for any periodic desired output with a fixed period. Here, the robot model is simplified as a cart table model. In the first stage, a walking pattern with constant gait is considered to allow the use of a repetitive controller. The results are then compared to a classical PD control. In the second part, the proposed controller is applied to track a desired ZMP profile generated using a central pattern generator (CPG). Here, the speed of the oscillator is adjusted via a proper selection of the parameters of the CPG and the RC design is simultaneously updated to assure the perfect tracking of the ZMP.
KW - Biped locomotion
KW - Central pattern generator
KW - Motion generation
KW - Repetitive controller
KW - Zero moment point
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U2 - 10.1007/s12206-019-1147-7
DO - 10.1007/s12206-019-1147-7
M3 - Article
AN - SCOPUS:85077141413
SN - 1738-494X
VL - 33
SP - 6037
EP - 6043
JO - Journal of Mechanical Science and Technology
JF - Journal of Mechanical Science and Technology
IS - 12
ER -