A Robust Model-Based Biped Locomotion Framework Based on Three-Mass Model: From Planning to Control

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