2足歩行ロボットにおける片脚支持期の重心速度変動幅最小化のための目標ZMP軌道 [in Japanese] Referential ZMP Trajectory for Minimizing Variation of COG Velocity in Single Support Phase of Biped Robot [in Japanese]
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The referential ZMP (Zero-Moment Point) trajectory that minimizes the variation of COG (Center of Gravity) velocity in the single support phase of a biped robot is shown. Two advantages of using this ZMP trajectory are discussed. The first advantage is that the variation of COG velocity is gradual. The second advantage is that the biped robot enables the heel-contact motion and the toe-off motion in the single support phase. The trajectory planning based on this ZMP trajectory is proposed. In simulation and experiment, the validity of the proposed method was confirmed.
- IEEJ Transactions on Sensors and Micromachines
IEEJ Transactions on Sensors and Micromachines 128(5), 661-668, 2008-05-01
The Institute of Electrical Engineers of Japan