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

Tomoya Sato, Kouhei Ohnishi

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)661-668+14
Journalieej transactions on industry applications
Volume128
Issue number5
DOIs
Publication statusPublished - 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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