Stability index for biped robot moving on rough terrain

Tomoya Sato; Sho Sakaino; Kouhei Ohnishi

doi:10.1541/ieejias.129.571

Stability index for biped robot moving on rough terrain

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

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

11 Citations (Scopus)

Abstract

In this paper, a stability index based on the ZMP (zero-moment point) for biped robots moving on rough terrain is proposed. The proposed method projects a support polygon on to a virtual plane and sets a virtual ZMP on it. In rough terrain, using the proposed method, stability check and trajectory planning are able to be treated as the case of flat terrain. The validity of the proposed method was confirmed by some simulations and experiments.

Original language	English
Pages (from-to)	5+571-577
Journal	ieej transactions on industry applications
Volume	129
Issue number	6
DOIs	https://doi.org/10.1541/ieejias.129.571
Publication status	Published - 2009
Externally published	Yes

Keywords

Biped robot
Rough terrain
Stability index
ZMP

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1541/ieejias.129.571

Cite this

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abstract = "In this paper, a stability index based on the ZMP (zero-moment point) for biped robots moving on rough terrain is proposed. The proposed method projects a support polygon on to a virtual plane and sets a virtual ZMP on it. In rough terrain, using the proposed method, stability check and trajectory planning are able to be treated as the case of flat terrain. The validity of the proposed method was confirmed by some simulations and experiments.",

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AU - Sakaino, Sho

AU - Ohnishi, Kouhei

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AB - In this paper, a stability index based on the ZMP (zero-moment point) for biped robots moving on rough terrain is proposed. The proposed method projects a support polygon on to a virtual plane and sets a virtual ZMP on it. In rough terrain, using the proposed method, stability check and trajectory planning are able to be treated as the case of flat terrain. The validity of the proposed method was confirmed by some simulations and experiments.

KW - Biped robot

KW - Rough terrain

KW - Stability index

KW - ZMP

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Stability index for biped robot moving on rough terrain

Abstract

Keywords

ASJC Scopus subject areas

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