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Sains Malaysiana 48(12)(2019):
2759–2766 http://dx.doi.org/10.17576/jsm-2019-4812-17
Application of Variable Zero-Moment
Point in Walking Control of the Biped Robot (Penggunaan Pemboleh Ubah Titik
Momen Sifar
pada Kawalan Berjalan
Robot Dua Kaki) CHENGLIN JING* School of Mathematics
and Statistics, Guizhou University of
Finance and Economics, Guiyang, 550025, China Received: 21 February 2019/Accepted:
23 December 2019 ABSTRACT Using
the predictive control based on zero-moment point (ZMP),
the biped robot can walk comparatively stably. However, the problems
such as lack of self-adaptivity are also
highlighted mainly on account of modeling errors and environmental
perturbations; specifically, the tracking errors of ZMP are generated, leading to a reduced
walking stability. To address this problem, in the present work,
the expected ZMP was decomposed into the reference ZMP which
is pre-planned offline, and the variable ZMP which can be varied in real
time. With the addition of the variable ZMP, the outside interferences
can be eliminated. By combining the predictive control system and
the inverse system of variable ZMP, the walking pattern of the robot
with favorable self-adaptivity can be
achieved. Finally, the simulation results indicate that the self-adaptivity
of the robot can be effectively improved using the proposed control
system. Keywords:
Biped robot; inverse system; predictive control; self-adaptivity;
variable zero-moment point (ZMP) ABSTRAK Penggunaan kawalan ramalan berdasarkan titik momen sifar (ZMP),
robot dua kaki boleh berjalan
dengan agak stabil.
Walau bagaimanapun,
masalah seperti kekurangan penyesuaian diri juga diketengahkan
terutamanya pada
kesilapan pemodelan dan alam sekitar;
secara khusus,
kesilapan pengesanan ZMP
dijana, membawa kepada pengurangan kestabilan berjalan. Untuk menangani masalah ini dalam
kajian semasa,
ZMP
yang dijangka telah
reput ke dalam
rujukan ZMP yang dipra-rancang
secara luar
talian, dan pemboleh
ubah ZMP yang boleh
diubah dalam
masa nyata. Dengan penambahan
pemboleh ubah
ZMP,
gangguan luar
boleh dihapuskan. Dengan menggabungkan sistem kawalan ramalan dan sistem
songsang pemboleh
ubah ZMP, pola berjalan robot dengan penyesuaian diri yang menggalakkan boleh dicapai. Kesimpulannya, keputusan simulasi menunjukkan bahawa penyesuaian diri robot boleh diperbaiki dengan berkesan menggunakan sistem kawalan cadangan. REFERENCES Chang,
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