ZMP based neural network inspired humanoid robot control

Abstract

This paper concerns ZMP-based control that is inspired by artificial neural networks for humanoid robot walking on varying sloped surfaces. Humanoid robots are currently one of the most exciting research topics in the field of robotics, and maintaining stability while they are standing, walking or moving is a key concern. To ensure a steady and smooth walking gait of such robots, a feedforward type of neural network architecture, trained by the back-propagation algorithm, is employed. The inputs and outputs of the neural network architecture are the ZMPx and ZMPy errors of the robot, and the x, y positions of the robot, respectively. The neural network developed allows the controller to generate the desired balance of the robot positions, resulting in a steady gait for the robot as it moves around on a flat floor, and when it is descending or ascending slopes. In this paper, experiments of humanoid robot walking are carried out, in which the actual position data from a prototype robot are measured in real-time situations, and fed into a neural network inspired controller designed for stable bipedal walking. In addition, natural walking motions on the different surfaces with varying slopes are obtained and the performance of the resulting controller is shown to be satisfactory.