Control of Bipedal Walking Robot through Direct Regulation of the Zero Moment Point

Control of Bipedal Walking Robot through Direct Regulation of the Zero Moment Point

By controlling the zero moment point (ZMP) The unexpected rotation of the supporting foot can be avoided. This paper analyze a control strategy for simultaneously regulating the position of the ZMP and the joints of the robot, the proposed controller is based on a path-following control strategy. Th...

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Bibliographische Detailangaben
Hauptverfasser: Yazdekhasti, S., Shahgholian, G.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Foot
Humanoid robots
Knee
Leg
Legged locomotion
Motion control
Nonlinear control systems
Orbital robotics
path-following control
periodic motion
point. biped robot
reference joint path
Stability
Torso
zero moment
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Beschreibung
Zusammenfassung:By controlling the zero moment point (ZMP) The unexpected rotation of the supporting foot can be avoided. This paper analyze a control strategy for simultaneously regulating the position of the ZMP and the joints of the robot, the proposed controller is based on a path-following control strategy. The objective of the control law is not to track a (time based), but only the associated path in joint space.
DOI:10.1109/ICCEE.2009.149