Unified approach to ZMP and gravity center control in biped dynamic stable walking

Kenji Sorao, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

A control strategy based on both the center of gravity (COG) and zero moment point (ZMP) control of the biped supporting leg of a mobile robot was formulated to realize dynamic stable walking. The control algorithm involves the trajectory generation of the ZMP for the realization of the arbitrary COG trajectory, and a ZMP controller which directly controls the ZMP of the supporting foot. The ZMP trajectory is generated according to the tracking error of the COG and is based on fuzzy logic. The algorithm allows the arbitrary COG trajectory to be realized by the position command of the ZMP which satisfies the dynamic walking stability with no consideration of nonlinear relationship between the ZMP and COG.

Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
PublisherIEEE
Pages112
Number of pages1
Publication statusPublished - 1997
EventProceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn
Duration: 1997 Jun 161997 Jun 20

Other

OtherProceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97
CityTokyo, Jpn
Period97/6/1697/6/20

Fingerprint

Gravitation
Trajectories
Mobile robots
Fuzzy logic
Controllers

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Sorao, K., Murakami, T., & Ohnishi, K. (1997). Unified approach to ZMP and gravity center control in biped dynamic stable walking. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 112). IEEE.

Unified approach to ZMP and gravity center control in biped dynamic stable walking. / Sorao, Kenji; Murakami, Toshiyuki; Ohnishi, Kouhei.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. IEEE, 1997. p. 112.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sorao, K, Murakami, T & Ohnishi, K 1997, Unified approach to ZMP and gravity center control in biped dynamic stable walking. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. IEEE, pp. 112, Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97, Tokyo, Jpn, 97/6/16.
Sorao K, Murakami T, Ohnishi K. Unified approach to ZMP and gravity center control in biped dynamic stable walking. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. IEEE. 1997. p. 112
Sorao, Kenji ; Murakami, Toshiyuki ; Ohnishi, Kouhei. / Unified approach to ZMP and gravity center control in biped dynamic stable walking. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. IEEE, 1997. pp. 112
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