Swing Foot Pose Control Disturbance Overcoming Algorithm Based on Reference ZMP Preview Controller for Improving Humanoid Walking Stability

To improve the walking stability of humanoid robots, it is necessary to increase the performance of overcoming external disturbance. In this paper, step modification strategy based on the predicted Zero Moment Point (ZMP) is applied to the Reference ZMP Preview Controller to increase the overcoming disturbance performance of humanoid robots. It also uses a Horizon Swing Foot strategy that can keep the ankle of the Swing phase parallel to the ground to increase stability when changing the Step. The proposed algorithm was verified through experiments and confirmed that the Horizon Swing Foot strategy can overcome up to 14.85 kg \(\cdot \) m/s of impact. By applying the proposed algorithm to humanoid robots, it is expected to increase bipedal walking stability and prevent damage and safety accidents caused by the robot falling.