ArticleBiomimetics (Basel, Switzerland)2022
Balanced Standing on One Foot of Biped Robot Based on Three-Particle Model Predictive Control.
Article in Biomimetics (Basel, Switzerland), 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed, 9 citations in OpenAlex.
- Bio-Inspired Central Pattern Generator for Adaptive Gait Generation and Stability in Humanoid Robots on Sloped Surfaces.Biomimetics (Basel, Switzerland) · 2025Article
- Squat Motion of a Humanoid Robot Using Three-Particle Model Predictive Control and Whole-Body Control.Sensors (Basel, Switzerland) · 2025Article
- A Multi-Agent Reinforcement Learning Method for Omnidirectional Walking of Bipedal Robots.Biomimetics (Basel, Switzerland) · 2023Article
- Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot.Biomimetics (Basel, Switzerland) · 2023Article
Corrections and comments
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Authors and funding
9 authors at 2 institutions in 1 country.
Funding
Abstract
Balancing is a fundamental task in the motion control of bipedal robots. Compared to two-foot balancing, one-foot balancing introduces new challenges, such as a smaller supporting polygon and control difficulty coming from the kinematic coupling between the center of mass (CoM) and the swinging leg. Although nonlinear model predictive control (NMPC) may solve this problem, it is not feasible to implement it on the actual robot because of its large amount of calculation. This paper proposes the three-particle model predictive control (TP-MPC) approach. It combines with the hierarchical whole-body control (WBC) to solve the one-leg balancing problem in real time. The bipedal robot's torso and two legs are modeled as three separate particles without inertia. The TP-MPC generates feasible swing leg trajectories, followed by the WBC to adjust the robot's center of mass. Since the three-particle model is linear, the TP-MPC requires less computational cost, which implies real-time execution on an actual robot. The proposed method is verified in simulation. Simulation results show that our method can resist much larger external disturbance than the WBC-only control scheme.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.