Referential ZMP trajectory for minimizing variation of COG velocity in single support phase of biped robot

Tomoya Sato; Kouhei Ohnishi

doi:10.1541/ieejias.128.661

Referential ZMP trajectory for minimizing variation of COG velocity in single support phase of biped robot

Tomoya Sato, Kouhei Ohnishi

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

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	https://doi.org/10.1541/ieejias.128.661
Publication status	Published - 2008
Externally published	Yes

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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10.1541/ieejias.128.661

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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.",

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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.

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KW - COG velocity

KW - Single support phase

KW - Trajectory planning

KW - ZMP

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Referential ZMP trajectory for minimizing variation of COG velocity in single support phase of biped robot

Abstract

Keywords

ASJC Scopus subject areas

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