A ZMP sensor for a biped robot

A sensor attached to the sole of the foot of a biped robot to detect a zero moment point (ZMP) is proposed and basic experimental results are presented. The sensor simultaneously detects the center position of a two-dimensional distributed load on the surface of the sensor and the total load of the distribution. The sensor is sheet-like in form, lightweight (0.2 g/cm2), offers a high-speed response (within 1 ms), and needs a little wiring (four wires). In the present paper, the principle of the above-described sensor and its characteristics are described, and the ZMP locus is shown for a walking biped robot with the attached sensors

[1]  Kazuhito Yokoi,et al.  A high stability, smooth walking pattern for a biped robot , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[2]  Shuuji Kajita,et al.  Zero-Moment (ZMP) and Walking Control , 2002 .

[3]  Guy Bessonnet,et al.  Forces acting on a biped robot. Center of pressure-zero moment point , 2004, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans.

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

[5]  Masayuki Inaba,et al.  A six-axis force sensor with parallel support mechanism to measure the ground reaction force of humanoid robot , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[6]  M. Vukobratovic,et al.  Contribution to the Synthesis of Biped Gait , 1968 .

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

[8]  K. Nagasaka,et al.  Stabilization of Dynamic Walk on a Humanoid Using Torso Position Compliance Control , 1999 .

[9]  Mitsuhiro Yamano,et al.  A ZMP Manipulation Method for Walking Robots and its Application to Angular Momentum Control , 2002 .

[10]  Atsuo Takanishi,et al.  Development of ZMP Measurement System for Biped Walking Robot Using Universal Force-Moment Sensors , 1992 .

[11]  Makoto Shimojo,et al.  Dynamic sensing experiments of reaction force distributions on the sole of a walking humanoid robot , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[12]  Masatoshi Ishikawa,et al.  A Method for Measuring the Center Position of a Two Dimensional Distributed Load Using Pressure-Conductive Rubber , 1982 .

[13]  Atsuo Takanishi,et al.  Stabilization of Biped Walking and Acquisition of Landing Surface Position Information Using Foot Mechanism with Shock Absorbing Material , 1996 .