Realization of miniature humanoid for obstacle avoidance with real-time ZMP preview control used for full-sized humanoid

Many walking pattern generators for humanoid robots require predefined trajectories for the robot to track. This inflexibility limits the range of real-world environments that the robot can navigate through. For environments with obstacles and inconsistent terrain, the ability to change the walking trajectory becomes valuable. Using a miniature humanoid, a three-dimensional inverted pendulum model and ZMP preview control with ZMP and Foot generator were used to implement a real-time ZMP preview controller. We show the simulation results walking on obstacle field which validates that this approach can generate the all types of walking pattern based on the distance estimated based on the sensor data to the target to step without the predefined trajectory.