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

Kenji Sorao, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

13 被引用数 (Scopus)

抄録

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.

本文言語English
ページ数1
出版ステータスPublished - 1997 12月 1
イベントProceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn
継続期間: 1997 6月 161997 6月 20

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

フィンガープリント

「Unified approach to ZMP and gravity center control in biped dynamic stable walking」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル