论文信息 - Detecting Zero-Moment Point in Legged Robot

Detecting Zero-Moment Point in Legged Robot

The study of Zero-moment point (ZMP) in ROBOCLIMBER (quadruped walking and climbing robot) was realized and calculated in real time during statically postural and dynamically balanced gait. Force sensor with strain gages was implemented on each foot bar of the robot in order to measure the ground reaction forces used for calculate the ZMP and to realize futures force control strategies. With the statically postural the ZMP was localized in order to know the point where the reaction force of the ground acts and so to know the distance between the geometric centre and the statically ZMP. When the robot realized one gait the ZMP was analyzed in order to identify if the ZMP was inside of support polygon. With this analysis it is possible to realize stables gaits with compliance movements.

Manuel Armada | Héctor Montes | S. Nabulsi

[1] Miomir Vukobratović,et al. Biped Locomotion: Dynamics, Stability, Control and Application , 1990 .

[2] T. Takenaka,et al. The development of Honda humanoid robot , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[3] Atsuo Takanishi,et al. Realization of Plane Walking by the Biped Walking Robot WL-10R , 1985 .

[4] Toshio Fukuda,et al. Natural motion generation of biped locomotion robot using hierarchical trajectory generation method consisting of GA, EP layers , 1997, Proceedings of International Conference on Robotics and Automation.

[5] Miomir Vukobratovic,et al. Zero-Moment Point - Thirty Five Years of its Life , 2004, Int. J. Humanoid Robotics.

[6] H. Hemami,et al. The inverted pendulum and biped stability , 1977 .

[7] Ambarish Goswami,et al. Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point , 1999, Int. J. Robotics Res..

[8] Atsuo Takanishi,et al. REALIZATION OF DYNAMIC WALKING BY THE BIPED WALKING ROBOT WL-10RD. , 1985 .