Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment

TL;DR

This paper presents a combined DCM tracking and step adjustment method for stabilizing biped robot stepping, utilizing trajectory modification and hierarchical inverse dynamics, validated through simulations on robots with different ankle configurations.

Contribution

It introduces a novel approach integrating DCM trajectory generation with step adjustment and hierarchical inverse dynamics for versatile robot stabilization.

Findings

Effective stabilization for robots with active ankles

Successful adaptation of landing points using DCM measurement

Validated through simulations on different robot models

Abstract

In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined footprints. Furthermore, a swing foot trajectory modification strategy is proposed to adapt the landing point, using DCM measurement. In order to apply the generated trajectories to the full robot, a Hierarchical Inverse Dynamics (HID) is employed. The HID enables us to use different combinations of the DCM tracking and step adjustment for stabilizing different biped robots. Simulation experiments on two scenarios for two different simulated robots, one with active ankles and the other with passive ankles, are carried out. Simulation results demonstrate the effectiveness of the proposed method for robots with both active and passive ankles.