Moving Horizontal Reference Map For Bipedal Robot Walking Over Uneven Terrain

In this paper, we propose a constructive and robust control design for online stabilization of biped robot dynamic motion, especially walking on rough or uneven terrain. An online moving ground reference map based on both present and future information is proposed. It is obtained via minimizing the error of footstep, and the error of Center of Mass (CoM) position and velocity of the robot. By applying this reference map, robust CoM trajectories can be generated such that the resulted Zero Moment Point (ZMP) can follow the moving horizontal reference. This walking algorithm enhances the robots walking stability on uneven terrain based on preview control. The dynamic simulation results show that it can significantly improve walking stability and also minimize the error in tracking the pre-defined trajectory. The technique is very general and can be applied to a wide variety of humanoid robots.