Omnidirectional capture steps for bipedal walking

摘要: Robust walking on two legs has proven to be one of the most difficult challenges humanoid robotics. Bipedal walkers are inherently unstable systems that control due complexity their full-body dynamics. Aside from challenge generating a motion itself, closed-loop algorithms required maintain balance robot using foot placements and other disturbance-rejection strategies. In this work, we propose hierarchical, omnidirectional gait framework is able counteract strong perturbations combination step-timing, foot-placement, zero-moment-point The can occur any direction at time during step. controller will not only balance, but also follow given reference locomotion velocity while absorbing disturbance. calculation timing, footstep locations, zero moment point based linear inverted pendulum model computed efficiently in closed form.