Biped robot control based on adaptive incremental MPC

In this paper, a kind of walking control of biped robot based on adaptive incremental MPC(Adaptive IMPC) is implemented. The linear inverted pendulum model(LIPM) is used to simplify the robot into a center of mass moving on a horizontal line and a retractable leg, which is used to establish the dynamic equation and generate a stable walking trajectory. An adaptive incremental model predictive control algorithm is used to track the desired Zero Moment Point (ZMP) trajectory. Compared with the traditional MPC algorithm, its dynamic model adjustment ability and adaptability to nonlinear and time-varying systems have significant advantages in controlling the robot's centroid trajectory and ZMP. Then the motion path of the robot foot is dynamically planned by seventh-degree polynomial interpolation. The trajectory of the center of mass and the trajectory of the robot foot are analyzed, and the inverse kinematics is solved to get the final realization of the joint Angle. Finally, a complete physical simulation is carried out on matlab, and the experimental results show that the above scheme can improve the stability of the biped robot in walking.