ZMP CONTROLLER FOR WALKING ROBOT

PROBLEM TO BE SOLVED: To provide a ZMP (Zero Moment Point) controller for a bipedal walking robot, which achieves bipedal walking like such a graceful walk of a fashion model that legs of the fashion model are stretched but knees thereof are not bent.SOLUTION: A waist joint is added to the walking robot. Even when legs of the walking robot are stretched completely, the waist joint is rotated around a roll shaft so that the right leg thereof is lowered and the left leg thereof is raised to move the ZMP to the right leg side or the right leg thereof is raised and the left leg thereof is lowered to move the ZMP to the left leg side. As a result, ZMP control can be made possible. A reverse system or model matching control is used for compensating a control delay of the ZMP control.