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

 

Diserahkan: 21 Februari 2019/Diterima: 23 Disember 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.

Kata kunci: Kawalan ramalan; pemboleh ubah titik momen sifar (ZMP); penyesuaian diri; robot dua kaki; sistem songsang

 

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