Fuzzy Dynamic Gait Pattern Generation for Real-Time Push Recovery Control of a Teen-Sized Humanoid Robot

A fuzzy dynamic gait pattern generator, which allows a teen-sized humanoid robot to generate, in real-time, a suitable gait pattern when it is hit by an unexpected force, is proposed in this paper. Conventional gait pattern generators usually utilize the ideal Zero Moment Point (ZMP) to plan the trajectory of the Center of Mass (CoM), along with a cycloid to generate steps. However, pre-planned gait patterns cannot deal with unexpected situations, especially instances when the robot experiences an unknown force. Therefore, we propose a dynamic gait pattern generator that leverages the Virtual Force Linear Inverted Pendulum Model (VFLIPM) to adjust the trajectory of the ZMP using eight high-precision load cell pressure sensors mounted onto the robot\u27s soles