抄録
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 |
|---|---|
| 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 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering
これを引用
Walking stabilization control using virtual plane method for biped robots. / Sato, Tomoya; Sakaino, Sho; Ohnishi, Kouhei.
：: IEEJ Transactions on Industry Applications, 巻 130, 番号 5, 2010.研究成果: Article
}
TY - JOUR
T1 - Walking stabilization control using virtual plane method for biped robots
AU - Sato, Tomoya
AU - Sakaino, Sho
AU - Ohnishi, Kouhei
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
KW - Biped robot
KW - Virtual plane
KW - Walking stabilization control
KW - ZMP
UR - http://www.scopus.com/inward/record.url?scp=77953635231&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77953635231&partnerID=8YFLogxK
U2 - 10.1541/ieejias.130.685
DO - 10.1541/ieejias.130.685
M3 - Article
AN - SCOPUS:77953635231
VL - 130
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 5
ER -