In order to walk in a physical environment, the biped will encounter various external disturbances, and walking under persistent conditions is still challenging. This paper tries to improve the push recovery performance based on capture point (CP) and model predictive control. The trajectory of zero moment point (ZMP) and center of mass are solved and predicted in a limited time horizon. Online footprint generator is combined with MPC walking pattern generation, which can keep biped stable in the next few steps, and projection of ZMP is used to calculate the next footprint and reach the target CP in an incremental way. Verification of the proposed stable biped walking method is conducted by simulation and experiments.
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