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...

Ausführliche Beschreibung

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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