Abstract
The referential ZMP (Zero-Moment Point) trajectory that minimizes the variation of COG (Center of Gravity) velocity in the single support phase of a biped robot is shown. Two advantages of using this ZMP trajectory are discussed. The first advantage is that the variation of COG velocity is gradual. The second advantage is that the biped robot enables the heel-contact motion and the toe-off motion in the single support phase. The trajectory planning based on this ZMP trajectory is proposed. In simulation and experiment, the validity of the proposed method was confirmed.
| Original language | English |
|---|---|
| Journal | IEEJ Transactions on Industry Applications |
| Volume | 128 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 2008 |
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Keywords
- Biped robot
- COG velocity
- Single support phase
- Trajectory planning
- ZMP
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering
Cite this
Referential ZMP trajectory for minimizing variation of COG velocity in single support phase of biped robot. / Sato, Tomoya; Ohnishi, Kouhei.
In: IEEJ Transactions on Industry Applications, Vol. 128, No. 5, 2008.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Referential ZMP trajectory for minimizing variation of COG velocity in single support phase of biped robot
AU - Sato, Tomoya
AU - Ohnishi, Kouhei
PY - 2008
Y1 - 2008
N2 - The referential ZMP (Zero-Moment Point) trajectory that minimizes the variation of COG (Center of Gravity) velocity in the single support phase of a biped robot is shown. Two advantages of using this ZMP trajectory are discussed. The first advantage is that the variation of COG velocity is gradual. The second advantage is that the biped robot enables the heel-contact motion and the toe-off motion in the single support phase. The trajectory planning based on this ZMP trajectory is proposed. In simulation and experiment, the validity of the proposed method was confirmed.
AB - The referential ZMP (Zero-Moment Point) trajectory that minimizes the variation of COG (Center of Gravity) velocity in the single support phase of a biped robot is shown. Two advantages of using this ZMP trajectory are discussed. The first advantage is that the variation of COG velocity is gradual. The second advantage is that the biped robot enables the heel-contact motion and the toe-off motion in the single support phase. The trajectory planning based on this ZMP trajectory is proposed. In simulation and experiment, the validity of the proposed method was confirmed.
KW - Biped robot
KW - COG velocity
KW - Single support phase
KW - Trajectory planning
KW - ZMP
UR - http://www.scopus.com/inward/record.url?scp=70349105004&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70349105004&partnerID=8YFLogxK
U2 - 10.1541/ieejias.128.661
DO - 10.1541/ieejias.128.661
M3 - Article
VL - 128
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 5
ER -