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Multi-level control of zero-moment point-based humanoid biped robots: a review

Published online by Cambridge University Press:  24 February 2015

Hayder F. N. Al-Shuka ,
B. Corves ,
Wen-Hong Zhu  and
B. Vanderborght
Hayder F. N. Al-Shuka*
Affiliation:
Department of Mechanical Engineering, Baghdad University, Baghdad, Iraq Department of Mechanism Theory and Machine Dynamics, RWTH Aachen University, Germany
B. Corves
Affiliation:
Department of Mechanism Theory and Machine Dynamics, RWTH Aachen University, Germany
Wen-Hong Zhu
Affiliation:
Canadian Space Agency, Canada
B. Vanderborght
Affiliation:
Department of Mechanical Engineering, Vrije Universiteit, Brussels, Belgium
*
*Corresponding author. E-mail: hayder.alshuka@gmail.com
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Summary

Researchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centred environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.

Keywords

Biped robotStabilityZero-moment pointBalanceMulti-level control
Type
Survey or Review
Information
Robotica , Volume 34 , Issue 11 , November 2016 , pp. 2440 - 2466
Copyright
Copyright © Cambridge University Press 2015 

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