Jing, C.L., You, X.F., and Xia, T., 2020. Control method based on sensor data for stable walking of a biped robot under port environment. In: Guido Aldana, P.A. and Kantamaneni, K. (eds.), Advances in Water Resources, Coastal Management, and Marine Science Technology. Journal of Coastal Research, Special Issue No. 104, pp. 271–275. Coconut Creek (Florida), ISSN 0749-0208.
In spite of great improvement of walking ability after the merging of various walking techniques, there still exists a large gap between a biped robot and a person. In particular, under some complex environments such as port, the development and perfection of the control theory based on the detected sensor data are of great significance to achieving ideal walking ability for the robot. In this study, the detected sensor data are merged into the established dynamic model, and then, both the force and the moment of the connecting rod are accurately calculated for programming actual ZMP trajectory. Further, the data are sent to the slave computer for robot control, thereby enhancing the walking stability. The present simulation results prove that the biped robot can successfully realize stable walking.