Zero-Moment Point-Based Biped Robot with Different Walking Patterns
نویسندگان
چکیده
منابع مشابه
Planning walking patterns for a biped robot
Biped robots have better mobility than conventional wheeled robots, but they tend to tip over easily. To be able to walk stably in various environments, such as on rough terrain, up and down slopes, or in regions containing obstacles, it is necessary for the robot to adapt to the ground conditions with a foot motion, and maintain its stability with a torso motion. When the ground conditions and...
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This paper describes a novel control algorithm for dynamic walking of biped humanoid robots. For the test platform, we developed KHR-2 (KAIST Humanoid Robot-2) according to our design philosophy. KHR-2 has many sensory devices analogous to human sensory organs which are particularly useful for biped walking control. First, for the biped walking motion, the motion control architecture is built a...
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We introduce a new method of a biped walking pattern generation b y using a preview control of the zeromoment point ( Z M ) . First, the dynamics of a biped robot is modeled as a running cart on a table which gives a convenient representation to treat ZMP. After reviewing conventional methods of ZMP based pattern generation, we formalize the problem as the design o f a ZMP tracking servo contro...
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A not trivial problem in bipedal robot walking is the instability produced by the violent transition between the different dynamic walk phases. In this work an dynamic algorithm to control a biped robot is proposed. The algorithm is based on cubic polynomial interpolation of the initial conditions for the robot’s position, velocity and acceleration. This guarantee a constant velocity an a smoot...
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ژورنال
عنوان ژورنال: International Journal of Intelligent Systems and Applications
سال: 2014
ISSN: 2074-904X,2074-9058
DOI: 10.5815/ijisa.2015.01.03