６軸力センサを用いた２足歩行ロボットのＺＭＰ測定システムの開発

DOI 被引用文献1件 参考文献10件

書誌事項

タイトル別名
  • Development of ZMP Measurement System for Biped Walking Robot Using Universal Force-Moment Sensors.

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抄録

The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot. If the ZMP during robot walking can be measured, it is possible for a biped robot to realize stabler walking by a control method that makes use of the measured ZMP.<BR>In this paper, a method that measures the ZMP throughout the whole walking phase is proposed. A ZMP measurement system using two universal force-moment sensors is developed and installed into a biped walking robot. The accuracy of the ZMP measurement system is experimentally confirmed, and the ZMP throughout the whole walking phase is measured.

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参考文献 (10)*注記

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詳細情報 詳細情報について

  • CRID
    1390001204727027840
  • NII論文ID
    10006715861
  • NII書誌ID
    AN00141189
  • DOI
    10.7210/jrsj.10.828
  • ISSN
    18847145
    02891824
  • 本文言語コード
    ja
  • データソース種別
    • JaLC
    • Crossref
    • CiNii Articles
  • 抄録ライセンスフラグ
    使用不可

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