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In this paper, our objective is to achieve stable walking for biped robots using a simple yet powerful control scheme. This control scheme consists of a planning and control framework. For the motion planner, we utilize the Linear Inverted Pendulum Model as the equations of motion for the biped. Model Predictive Control is applied to plan the Zero Moment Point (ZMP) for future steps. Trajectories for the swing foot and base are generated based on the planned ZMP. Subsequently, a straightforward and intuitive control method called Virtual Model Control is employed to calculate control torques for tracking the generated trajectories. Finally, simulations conducted on flat-foot bipedal robots in MuJoCo validate the effectiveness of the proposed control scheme in achieving stable walking and attaining the desired locomotion velocity.

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A Simple Control Scheme with Model Predictive Control-Based Footstep Planner and Virtual Model Control for Planar Biped Robot

  • 会议论文

  • 发表日期：

    2025年

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  • Shuai Heng,
  • Chao Song,
  • Boyang Chen,
  • Yue Zhang,
  • Xizhe Zang,
  • Jie Zhao

摘要

In this paper, our objective is to achieve stable walking for biped robots using a simple yet powerful control scheme. This control scheme consists of a planning and control framework. For the motion planner, we utilize the Linear Inverted Pendulum Model as the equations of motion for the biped. Model Predictive Control is applied to plan the Zero Moment Point (ZMP) for future steps. Trajectories for the swing foot and base are generated based on the planned ZMP. Subsequently, a straightforward and intuitive control method called Virtual Model Control is employed to calculate control torques for tracking the generated trajectories. Finally, simulations conducted on flat-foot bipedal robots in MuJoCo validate the effectiveness of the proposed control scheme in achieving stable walking and attaining the desired locomotion velocity.