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 |
|---|---|
| Pages (from-to) | 661-668+14 |
| Journal | ieej transactions on industry applications |
| Volume | 128 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 2008 Dec 1 |
Keywords
- Biped robot
- COG velocity
- Single support phase
- Trajectory planning
- ZMP
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering
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Sato, T., & Ohnishi, K. (2008). Referential ZMP trajectory for minimizing variation of COG velocity in single support phase of biped robot. ieej transactions on industry applications, 128(5), 661-668+14. https://doi.org/10.1541/ieejias.128.661