A modular framework to generate robust biped locomotion: from planning to control

Abstract Biped robots are inherently unstable because of their complex kinematics as well dynamics. Despite many research efforts in developing biped locomotion, the performance locomotion is still far from expectations. This paper proposes a model-based framework to generate stable locomotion. The core this an abstract dynamics model which composed three masses consider stance leg, torso, and swing leg for minimizing tracking problems. According model, we propose modular walking reference trajectories planner takes into account obstacles plan all references. Moreover, used formulate controller Model Predictive Control (MPC) scheme can some constraints states system, inputs, outputs, also mixed input-output. robustness proposed validated by performing several numerical simulations using MATLAB. deployed on simulated torque-controlled humanoid verify its robustness. simulation results show that capable generating robustly.