LOCOMOTION
Development of ZMP Measurement System for Biped Walking Robot Using Universal Force-Moment Sensors.
Qinghua Li, Atsuo Takanishi, Ichiro Kato
- Year
- 1992
- Citations
- 9
- Access
- Open access
Abstract
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.
Keywords
Zero moment pointControl theory (sociology)Biped robotMoment (physics)RobotComputer sciencePoint (geometry)SimulationStability (learning theory)Control (management)
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