Implementation and simulation a model predictive control for motion generation of biped robot

This paper dealing with the problem of generation motion of biped robot, to solve this problem, was introduces a new method of implementation a biped robot walking pattern generation byusing a Model Predictive control (MPC) First, the basic of biped robots’ motion was reviewed and was discussed the elements of motion controller. The dynamics of a biped robot is modeled as a running cart on a table which gives a convenient representation for generation ZMP trajectory. After reviewing approach of 3D Linear Inverted Pendulum Model, a pattern generator was designed, lastly in MATLAB/Simulink and using Model Predictive Control Toolbox (MPCT) which provides functions, an app, and Simulink blocks was used for designing and simulating a motion generator based on model predictive controllers (MPC). The results of simulation are shown that we can realize such controller for generating trajectory of Center of Mass and Zero Moment point by using the MPC. The smooth trajectory of CoM is generated and the resulted ZMP follows the reference with good accuracy. Ref. 13, pic. 6