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Control of walking robots based on manipulation of the zero moment point

Published online by Cambridge University Press:  23 April 2001

K. Mitobe
Affiliation:
Department of Mechanical Systems Engineering, Faculty of Engineering, Yamagata University, Jonan 4–3–16, Yonezawa 992–8510, (Japan)Japan mitobe@mnasu2.yz.yamagata-u.ac.jp
G. Capi
Affiliation:
Department of Mechanical Systems Engineering, Faculty of Engineering, Yamagata University, Jonan 4–3–16, Yonezawa 992–8510, (Japan)
Y. Nasu
Affiliation:
Department of Mechanical Systems Engineering, Faculty of Engineering, Yamagata University, Jonan 4–3–16, Yonezawa 992–8510, (Japan)

Abstract

In this paper, a new application of the ZMP (Zero Moment Point) control law is presented. The objective of this control method is to obtain a smooth and soft motion based on a real-time control. In the controller, the ZMP is treated as an actuating signal. The coordinates of the robot body are fed back to obtain its position. The proposed control method was applied on two different biped robots, and its validity is verified experimentally.

Type
Research Article
Copyright
© 2000 Cambridge University Press

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