Walking stabilization control using virtual plane method for biped robots

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

Research output: Contribution to journalArticle

Abstract

In this paper, a method for walking stabilization control using a virtual plane method for up-down motion of biped robots is proposed. In the case of the up-down motion in whitch the height of the center of gravity (COG) is not constant, the Zero-Moment Point (ZMP) equation that shows the relation between the ZMP and the COG becomes linear time-variant. Using the proposed method, the ZMP equation is transformed into linear time-invariant. Therefore, the frequency analysis and parameter design of the walking stabilization control can be implemented easily even in the up-down motion. The validity of the proposed method was confirmed by some simulations and experiments.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume130
Issue number5
DOIs
Publication statusPublished - 2010

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Gravitation
Stabilization
Robots
Experiments

Keywords

  • Biped robot
  • Virtual plane
  • Walking stabilization control
  • ZMP

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Walking stabilization control using virtual plane method for biped robots. / Sato, Tomoya; Sakaino, Sho; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 130, No. 5, 2010.

Research output: Contribution to journalArticle

Sato, Tomoya ; Sakaino, Sho ; Ohnishi, Kouhei. / Walking stabilization control using virtual plane method for biped robots. In: IEEJ Transactions on Industry Applications. 2010 ; Vol. 130, No. 5.
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