期刊論文
| 學年 | 113 |
|---|---|
| 學期 | 2 |
| 出版（發表）日期 | 2025-02-13 |
| 作品名稱 | MPC-based walking stability control for bipedal robots on uneven terrain |
| 作品名稱（其他語言） | |
| 著者 | Liu, Chih-cheng; Lin, Yi-chung; Li, Chia-sheng |
| 單位 | |
| 出版者 | |
| 著錄名稱、卷期、頁數 | IEEE Access 13, p.1-12 |
| 摘要 | This paper proposes an algorithm capable of regenerating gait patterns online. The algorithm is designed using the Model Predictive Control (MPC) framework, with the Linear Inverted Pendulum Model as the basis of the predictive model. For bipedal robot walking, it divides ZMP (Zero Moment Point) constraints into single-leg support, double-leg support, and start-end phases, reformulating them into a complete quadratic programming problem. This approach allows for adjustments to both the foot placement and the timing of steps to maintain dynamic stability during walking. To address the limited contact force sensing capability between the robot and the ground in the gait generator, pressure sensors on both feet of the robot are used to monitor pressure distribution, adjusting the allocation of pressure between the feet accordingly. Finally, simulation and experimental results demonstrate the performance of the proposed method. The controller maintains dynamic stability for the bipedal robot when walking on either soft artificial grass or hard wooden boards. |
| 關鍵字 | Legged locomotion;Robots;Humanoid robots;Generators;Foot;Trajectory;Robot sensing systems;Predictive models;Stability criteria;Predictive control |
| 語言 | en_US |
| ISSN | |
| 期刊性質 | 國外 |
| 收錄於 | SCI EI |
| 產學合作 | |
| 通訊作者 | |
| 審稿制度 | 是 |
| 國別 | USA |
| 公開徵稿 | |
| 出版型式 | ,電子版 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/126936 ) |