Aiguo Ming

Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation

This paper proposes a disturbance rejection controller using real-time ZMP (Zero Moment Point) regulation which could maintain the stable walk of a humanoid robot when the robot is subjected to external disturbances. The controller detects the disturbance by an accelerometer, and computes the ZMP increment to overcome disturbance to ensure stability, and then calculate the increment of trajectory of center of mass according to ZMP increment using preview control. The effectiveness of our proposed method was confirmed by simulation in ADAMS and walking experiment on an actual humanoid robot, BHR-5.

Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot

In the field of robotics, small cat-like robots, due to its small size, good flexibility, low energy consumption, has become a research trend. Elastic four-bar linkage mechanism (EFLM) with programmable trajectory, good stability, and certain buffer performance, is an excellent choice for driver design of small quadruped robot. We designed a novel miniature cat-like robot, Og-cat, which is optimized in structural features and special parameters compared with other similar quadruped robots. Moreover, we developed a method that can make leg trajectory implement accurately for robots using EFLM. A trajectory realization function is obtained through MATLAB fitting so that the trajectory can be executed precisely. The proposed method has been confirmed on our small quadruped robot Og-cat.