Bipedal walking control based on capture point dynamics

Johannes Englsberger, Christian Ott, Maximo A. Roa, Alin Albu-Schäffer, Gerhard Hirzinger

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

229 Scopus citations

Abstract

This paper builds up on the Capture Point concept and exploits the simple form of the dynamical equations of the Linear Inverted Pendulum model when formulated in terms of the center of mass and the Capture Point. The presented methods include (i) the derivation of a Capture Point (CP) control principle based on the natural dynamics of the linear inverted pendulum (LIP), which stabilizes the walking robot and motivates (ii) the design of a CP tracking and a CP end-of-step controller. The exponential stability of the CP control law is proven. Tilting is avoided by proper projection of the commanded zero moment point. The robustness of the derived control algorithms is analyzed analytically and verified in simulation and experiments.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages4420-4427
Number of pages8
DOIs
StatePublished - 2011
Externally publishedYes
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 25 Sep 201130 Sep 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/TerritoryUnited States
CitySan Francisco, CA
Period25/09/1130/09/11

Fingerprint

Dive into the research topics of 'Bipedal walking control based on capture point dynamics'. Together they form a unique fingerprint.

Cite this