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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| creator | Yazdekhasti, S. Shahgholian, G. |
| description | 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_str_mv | 10.1109/ICCEE.2009.149 |
| format | Conference Proceeding |
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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. 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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.</description><subject>Foot</subject><subject>Humanoid robots</subject><subject>Knee</subject><subject>Leg</subject><subject>Legged locomotion</subject><subject>Motion control</subject><subject>Nonlinear control systems</subject><subject>Orbital robotics</subject><subject>path-following control</subject><subject>periodic motion</subject><subject>point. biped robot</subject><subject>reference joint path</subject><subject>Stability</subject><subject>Torso</subject><subject>zero moment</subject><isbn>9781424453658</isbn><isbn>1424453658</isbn><isbn>0769539254</isbn><isbn>9780769539256</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2009</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotjEFPAjEUhGsMiYJcvXjpHwBft6_t9qgrKglGgxoTL6TbfbtUly1ZysF_L0TnMpMvM8PYpYCpEGCv50Uxm00zADsVaE_YEIy2StpM4SkbW5MLzBCV1CofsOGxZxG0tWdsvNt9wUGoMonZOXstYpf62PJY89uwpcq1_MO136Fr-DKWMfG07uO-WfO70JNPfEnNvnUpxO44SWvin9RH_hQ31CX-EkOXLtigdu2Oxv8-Yu_3s7ficbJ4fpgXN4tJEEalSeUNGimlNyS1rg_RK1sbqysHztga0FfK154gP3AAlyFViHmpkcqKcjliV3-_gYhW2z5sXP-zUjIHbYT8BfDUUrg</recordid><startdate>200912</startdate><enddate>200912</enddate><creator>Yazdekhasti, S.</creator><creator>Shahgholian, G.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200912</creationdate><title>Control of Bipedal Walking Robot through Direct Regulation of the Zero Moment Point</title><author>Yazdekhasti, S. ; Shahgholian, G.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-dc747333c7e366f733c59f796da0a79f04cd5cfce0859f00a24ed448b64ebde83</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2009</creationdate><topic>Foot</topic><topic>Humanoid robots</topic><topic>Knee</topic><topic>Leg</topic><topic>Legged locomotion</topic><topic>Motion control</topic><topic>Nonlinear control systems</topic><topic>Orbital robotics</topic><topic>path-following control</topic><topic>periodic motion</topic><topic>point. biped robot</topic><topic>reference joint path</topic><topic>Stability</topic><topic>Torso</topic><topic>zero moment</topic><toplevel>online_resources</toplevel><creatorcontrib>Yazdekhasti, S.</creatorcontrib><creatorcontrib>Shahgholian, G.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Yazdekhasti, S.</au><au>Shahgholian, G.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Control of Bipedal Walking Robot through Direct Regulation of the Zero Moment Point</atitle><btitle>2009 Second International Conference on Computer and Electrical Engineering</btitle><stitle>ICCEE</stitle><date>2009-12</date><risdate>2009</risdate><volume>1</volume><spage>40</spage><epage>44</epage><pages>40-44</pages><isbn>9781424453658</isbn><isbn>1424453658</isbn><eisbn>0769539254</eisbn><eisbn>9780769539256</eisbn><abstract>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.</abstract><pub>IEEE</pub><doi>10.1109/ICCEE.2009.149</doi><tpages>5</tpages></addata></record> |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | 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 |
| title | Control of Bipedal Walking Robot through Direct Regulation of the Zero Moment Point |
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