TY - JOUR
T1 - Walking stabilization control using virtual plane method for biped robots
AU - Sato, Tomoya
AU - Sakaino, Sho
AU - Ohnishi, Kouhei
PY - 2010/6/22
Y1 - 2010/6/22
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
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U2 - 10.1541/ieejias.130.685
DO - 10.1541/ieejias.130.685
M3 - Article
AN - SCOPUS:77953635231
VL - 130
SP - 685-691+14
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 5
ER -