نتایج جستجو برای: zero moment point

تعداد نتایج: 706304  

Journal: :I. J. Robotics Res. 2006
Jimmy Vermeulen Björn Verrelst Bram Vanderborght Dirk Lefeber Patrick Guillaume

A real-time joint trajectory generation strategy for the dynamic walking biped ”Lucy” [1, 2] is proposed. This trajectory planner generates dynamically stable motion patterns by using a set of objective locomotion parameters as its input, and by tuning and exploiting the natural upper body dynamics. The latter can be determined and manipulated by using the angular momentum equation. Basically, ...

2003
Ryo Kurazume Tsutomu Hasegawa Kan Yoneda

From 1970’s, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed “the sway compensation trajectory”. This method utilizes a lateral, longitudinal, and vertical motion of a robot body to ...

2016
Igor Danilov Bulat Gabbasov Ilya Afanasyev Evgeni Magid

This article presents the methods of zero moment point (ZMP) trajectory evaluation for human locomotion by processing biomechanical data recorded with Kinect-based motion capture (MoCap) system. Our MoCap system consists of four Kinect 2 sensors, using commercial iPi soft markerless tracking and visualization technology. We apply iPi Mocap Studio software to multi-depth sensor video recordings,...

2009
Johannes H. Strom George Slavov Eric Chown

Fast-paced dynamic environments like robot soccer require highly responsive and dynamic locomotion. We present an implementation of an omnidirectional ZMP-based walk engine for the Nao robot. Using a simple inverted pendulum model, a preview controller generates dynamically balanced center of mass trajectories. To enable path planning, we introduce a system of global and egocentric coordinate f...

Journal: :I. J. Humanoid Robotics 2006
Ahmad Bagheri Farid Najafi Reza Farrokhi Rahman Yousefi Moghaddam Mohammad Ebrahim Felezi

Recently, a lot of research has been conducted in the area of biped walking robots that could be compared to human beings. The aim of this article is to control a new planar biped robot by means of an adaptive procedure. The newly designed robot is able to move on its heel like a human. After derivation of dynamic equations of motion for two states of the robot, namely, “supporting leg and trun...

2013
Gustavo Báez Ernesto Olguín-Díaz

Among all the articles of human robots there are very few dedicated to the double support phase. A lot of researches consider this phase as an instantaneous transition between the single support phases for one leg to another in the biped gait. So we decided to focus our work in this direction and study the overactuated system that arises from the sub-actuated free-flyer humanoid with restrictio...

2002
Tomomichi Sugihara Yoshihiko Nakamura Hirochika Inoue

Humanoid robot is expected as a rational form of machine to act in the real human environment and support people through interaction with them. Current humanoid robots, however, lack in adaptability, agility, or high-mobility enough to meet the expectations. In order to enhance high-mobility, the humanoid motion should be generated in realtime in accordance with the dynamics, which commonly req...

2009
Jean-Luc Paillat Philippe Lucidarme Laurent Hardouin

This paper introduces an originally designed tracked robot. This robot belongs to the VGSTV (Variable Geometry Single Tracked Vehicle) category. It is equipped with two tracks mounted on an actuated chassis. The first joint is used to articulate the chassis and the second one to keep the tracks tightened. By controlling the chassis joint it becomes possible to adapt the shape of the tracks to t...

2004
Hee-sung Chae

Abstract: The legged robot can only walk very similar to human walking pattern. Therefore, many robots have been researched and developed in recent years. However, the biped robots still have many issues for the natural human walking in terms of the redundant degree of freedom, complexity of the kinematics, and stability. In this paper, we have described our biped robot modeling in the forward ...

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