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 |
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| 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 16 → 1997 6月 20 |
Other
| Other | Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 |
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| City | Tokyo, Jpn |
| Period | 97/6/16 → 97/6/20 |
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