Stability control for biped walking based on phase modification during double support period

Tongtong Li; Zhangguo Yu; Juan Chen; Yan Liu; Maoxing Zheng; Libo Meng; Gan Ma; Wen Zhang; Weimin Zhang; Qiang Huang

doi:10.1109/ROBIO.2014.7090511

Stability control for biped walking based on phase modification during double support period

Tongtong Li, Zhangguo Yu^*, Juan Chen, Yan Liu, Maoxing Zheng, Libo Meng, Gan Ma, Wen Zhang, Weimin Zhang, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

This paper presents a control strategy based on phase modification during double support period to enhance a humanoid robot's walking stability. When the foot of the swing leg touches the ground, if Zero Moment Point(ZMP) is not in the stable margin, the phase modification will start. According to the position of ZMP and the relationship between the motion of Center of Gravity(COG) and ZMP position, the related parameters are solved. Series of experiments are taken, and the effectiveness of the method is validated repeatedly.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1290-1295
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090511
Publication status	Published - 20 Apr 2014
Event	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014

Publication series

Name	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	5/12/14 → 10/12/14

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10.1109/ROBIO.2014.7090511

Cite this

Li, T., Yu, Z., Chen, J., Liu, Y., Zheng, M., Meng, L., Ma, G., Zhang, W., Zhang, W., & Huang, Q. (2014). Stability control for biped walking based on phase modification during double support period. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 1290-1295). Article 7090511 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090511

Li, Tongtong ; Yu, Zhangguo ; Chen, Juan et al. / Stability control for biped walking based on phase modification during double support period. 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 1290-1295 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

@inproceedings{4b991566a3364265945a46c00d28c331,

title = "Stability control for biped walking based on phase modification during double support period",

abstract = "This paper presents a control strategy based on phase modification during double support period to enhance a humanoid robot's walking stability. When the foot of the swing leg touches the ground, if Zero Moment Point(ZMP) is not in the stable margin, the phase modification will start. According to the position of ZMP and the relationship between the motion of Center of Gravity(COG) and ZMP position, the related parameters are solved. Series of experiments are taken, and the effectiveness of the method is validated repeatedly.",

author = "Tongtong Li and Zhangguo Yu and Juan Chen and Yan Liu and Maoxing Zheng and Libo Meng and Gan Ma and Wen Zhang and Weimin Zhang and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 ; Conference date: 05-12-2014 Through 10-12-2014",

year = "2014",

month = apr,

day = "20",

doi = "10.1109/ROBIO.2014.7090511",

language = "English",

series = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1290--1295",

booktitle = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

address = "United States",

}

Li, T, Yu, Z, Chen, J, Liu, Y, Zheng, M, Meng, L, Ma, G, Zhang, W, Zhang, W & Huang, Q 2014, Stability control for biped walking based on phase modification during double support period. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090511, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Institute of Electrical and Electronics Engineers Inc., pp. 1290-1295, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Bali, Indonesia, 5/12/14. https://doi.org/10.1109/ROBIO.2014.7090511

Stability control for biped walking based on phase modification during double support period. / Li, Tongtong; Yu, Zhangguo; Chen, Juan et al.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1290-1295 7090511 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Stability control for biped walking based on phase modification during double support period

AU - Li, Tongtong

AU - Yu, Zhangguo

AU - Chen, Juan

AU - Liu, Yan

AU - Zheng, Maoxing

AU - Meng, Libo

AU - Ma, Gan

AU - Zhang, Wen

AU - Zhang, Weimin

AU - Huang, Qiang

PY - 2014/4/20

Y1 - 2014/4/20

N2 - This paper presents a control strategy based on phase modification during double support period to enhance a humanoid robot's walking stability. When the foot of the swing leg touches the ground, if Zero Moment Point(ZMP) is not in the stable margin, the phase modification will start. According to the position of ZMP and the relationship between the motion of Center of Gravity(COG) and ZMP position, the related parameters are solved. Series of experiments are taken, and the effectiveness of the method is validated repeatedly.

AB - This paper presents a control strategy based on phase modification during double support period to enhance a humanoid robot's walking stability. When the foot of the swing leg touches the ground, if Zero Moment Point(ZMP) is not in the stable margin, the phase modification will start. According to the position of ZMP and the relationship between the motion of Center of Gravity(COG) and ZMP position, the related parameters are solved. Series of experiments are taken, and the effectiveness of the method is validated repeatedly.

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U2 - 10.1109/ROBIO.2014.7090511

DO - 10.1109/ROBIO.2014.7090511

M3 - Conference contribution

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T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

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BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 5 December 2014 through 10 December 2014

ER -

Li T, Yu Z, Chen J, Liu Y, Zheng M, Meng L et al. Stability control for biped walking based on phase modification during double support period. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1290-1295. 7090511. (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). doi: 10.1109/ROBIO.2014.7090511

Stability control for biped walking based on phase modification during double support period

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