Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion


During this paper, the concept of divergent element of motion (DCM, conjointly known as “Capture Point”) is extended to 3-D. We introduce the “Enhanced Centroidal Moment Pivot point” (eCMP) and therefore the “Virtual Repellent Purpose” (VRP), that enable for the encoding of each direction and magnitude of the external forces and the whole force (i.e., external plus gravitational forces) working on the robot. Based mostly on eCMP, VRP, and DCM, we gift strategies for real-time designing and tracking control of DCM trajectories in 3-D. The essential DCM trajectory generator is extended to supply continuous leg force profiles and to facilitate the employment of toe-off motion throughout double support. The robustness of the proposed control framework is completely examined, and its capabilities are verified each in simulations and experiments.

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