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

Kenji Sorao, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaper

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
Number of pages1
Publication statusPublished - 1997 Dec 1
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

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Sorao, K., Murakami, T., & Ohnishi, K. (1997). Unified approach to ZMP and gravity center control in biped dynamic stable walking. Paper presented at Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97, Tokyo, Jpn, .