Fuzzy Modeling of Zero Moment Point Trajectory for a Biped Walking Robot

The biped walking robot has almost the same mechanisms as a human and is suitable for moving in an environment which contains stairs, obstacles, etc. However, the complex dynamics involved make the biped robot control a challenging task. For the stability of the biped walking robot, the zero moment point (ZMP) trajectory in the robot foot support area is a significant criterion. If the ZMP during walking can be measured, it is possible to realize stable walking and to stably control the biped robot by the use of the measured ZMP. In this paper, actual ZMP data are measured in real time situations from practical biped walking robot and the obtained ZMP data are modeled by TS-type fuzzy system. By the simulation results, the TS-type fuzzy system can be effectively used to model practical biped walking robot.