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Swing Foot Pose Control Disturbance Overcoming Algorithm Based on Reference ZMP Preview Controller for Improving Humanoid Walking Stability

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RoboCup 2023: Robot World Cup XXVI (RoboCup 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14140))

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Abstract

To improve the walking stability of humanoid robots, it is necessary to increase the performance of overcoming external disturbance. In this paper, step modification strategy based on the predicted Zero Moment Point (ZMP) is applied to the Reference ZMP Preview Controller to increase the overcoming disturbance performance of humanoid robots. It also uses a Horizon Swing Foot strategy that can keep the ankle of the Swing phase parallel to the ground to increase stability when changing the Step. The proposed algorithm was verified through experiments and confirmed that the Horizon Swing Foot strategy can overcome up to 14.85 kg\(\cdot \)m/s of impact. By applying the proposed algorithm to humanoid robots, it is expected to increase bipedal walking stability and prevent damage and safety accidents caused by the robot falling.

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Acknowledgements

This research was supported by the MOTIE (Ministry of Trade, Industry, and Energy) in Korea, under (global) (P0017311) supervised by the Korea Institute for Advancement of Technology (KIAT).

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Authors and Affiliations

  1. Department of Convergence Robot System, Hanyang University, 15588, Ansan, Republic of Korea

    Eunsoo Chung & Yeonghun Chun

  2. Department of Robotics, Hanyang University, 15588, Ansan, Republic of Korea

    Haewon Jung, Wonyong Lee & Jangwon Lee

  3. Mechanical and Aerospace Engineering, University of California, CA, Los Angeles, 90095, USA

    Minsung Ahn

  4. Department of Robotics, Hanyang University, 15588, Ansan, Republic of Korea

    Jeakweon Han

Authors
  1. Eunsoo Chung
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  2. Haewon Jung
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  3. Yeonghun Chun
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  4. Wonyong Lee
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  5. Jangwon Lee
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  6. Minsung Ahn
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  7. Jeakweon Han
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Corresponding author

Correspondence to Jeakweon Han .

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Editors and Affiliations

  1. ENIB/Naval Group Pacific, Plouzané, France

    Cédric Buche

  2. University of Naples Federico II, Naples, Italy

    Alessandra Rossi

  3. Bahia State University, Salvador, Brazil

    Marco Simões

  4. University of Miami, Coral Gables, FL, USA

    Ubbo Visser

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Chung, E. et al. (2024). Swing Foot Pose Control Disturbance Overcoming Algorithm Based on Reference ZMP Preview Controller for Improving Humanoid Walking Stability. In: Buche, C., Rossi, A., Simões, M., Visser, U. (eds) RoboCup 2023: Robot World Cup XXVI. RoboCup 2023. Lecture Notes in Computer Science(), vol 14140. Springer, Cham. https://doi.org/10.1007/978-3-031-55015-7_16

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  • DOI: https://doi.org/10.1007/978-3-031-55015-7_16

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-55014-0

  • Online ISBN: 978-3-031-55015-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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