Hostname: page-component-586b7cd67f-g8jcs Total loading time: 0 Render date: 2024-11-21T23:11:07.543Z Has data issue: false hasContentIssue false
  • English
  • Français

Control of walking robots based on manipulation of the zero moment point

Published online by Cambridge University Press:  23 April 2001

K. Mitobe ,
G. Capi  and
Y. Nasu
K. Mitobe
Affiliation:
Department of Mechanical Systems Engineering, Faculty of Engineering, Yamagata University, Jonan 4–3–16, Yonezawa 992–8510, (Japan)[email protected]
G. Capi
Affiliation:
Department of Mechanical Systems Engineering, Faculty of Engineering, Yamagata University, Jonan 4–3–16, Yonezawa 992–8510, (Japan)
Y. Nasu
Affiliation:
Department of Mechanical Systems Engineering, Faculty of Engineering, Yamagata University, Jonan 4–3–16, Yonezawa 992–8510, (Japan)
Get access Rights & Permissions [Opens in a new window]

Abstract

In this paper, a new application of the ZMP (Zero Moment Point) control law is presented. The objective of this control method is to obtain a smooth and soft motion based on a real-time control. In the controller, the ZMP is treated as an actuating signal. The coordinates of the robot body are fed back to obtain its position. The proposed control method was applied on two different biped robots, and its validity is verified experimentally.

Keywords

Walking robotsZero moment pointControl LawActuating Signal
Type
Research Article
Information
Robotica , Volume 18 , Issue 6 , November 2000 , pp. 651 - 657
Copyright
© 2000 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)