Moving single support ZMP trajectories for humanoid robot walking reference generation
Erbatur, Kemalettin and Taşkıran, Evrim and Seven, Utku and Koca, Özer (2008) Moving single support ZMP trajectories for humanoid robot walking reference generation. In: IASTED International Conference on Intelligent Systems and Control, Orlando-USA (Accepted/In Press) AbstractHumanoid walking robots are expected to assist us in the
future. This will require stable and reliable bipedal walk.
The control of the hard-to-stabilize bipedal structure
requires suitable walking references. The Zero Moment
Point (ZMP) criterion is commonly used as a measure of
stability of the walk. A stable walking reference can be
generated in such a way that the Zero Moment Point stays
always within the supporting polygon defined by the
robot feet. In many approaches the ZMP reference is kept
fixed under the supporting foot. However, it is found
experimentally that during natural human walk, the Zero
Moment Point moves forward under the feet. This paper
presents a reference generation method based on ZMP
criterion and natural walking. A stabilizing controller is
developed. The walking performance with the fixed and
forward moving ZMP references are compared with the
model of a 12 DOF biped robot. Available Versions of this Item- Moving single support ZMP trajectories for humanoid robot walking reference generation. (deposited 07 Nov 2008 15:54) [Currently Displayed]
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