抜粋
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.
| 元の言語 | English |
|---|---|
| ページ（範囲） | 685-691+14 |
| ジャーナル | ieej transactions on industry applications |
| 巻 | 130 |
| 発行部数 | 5 |
| DOI | |
| 出版物ステータス | Published - 2010 6 22 |
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering
フィンガープリント Walking stabilization control using virtual plane method for biped robots' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。
これを引用
Sato, T., Sakaino, S., & Ohnishi, K. (2010). Walking stabilization control using virtual plane method for biped robots. ieej transactions on industry applications, 130(5), 685-691+14. https://doi.org/10.1541/ieejias.130.685