LOCOMOTION
Development of a Biped Walking Robot Compensating for Three-Axis Moment by Trunk Motion.
Jin’ichi Yamaguchi, Atsuo Takanishi, Ichiro Kato
- Year
- 1993
- Citations
- 164
- Access
- Open access
Abstract
We have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking, robot which has a trunk.
Keywords
Zero moment pointMoment (physics)TrunkControl theory (sociology)RobotBiped robotComputer sciencePreferred walking speedMotion (physics)Simulation
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