LOCOMOTION
Human-like ZMP trajectory reference in sagittal plane for a biped robot
João P. Ferreira, Manuel Crisóstomo, A. Paulo Coimbra
- Year
- 2009
- Citations
- 6
Abstract
This paper introduces two new important issues to be considered in the design of the zero moment point (ZMP) reference trajectory for the sagittal plane balance control of an autonomous walking biped robot with an human-like gait.
Keywords
Zero moment pointSagittal planeTrajectoryControl theory (sociology)RobotBalance (ability)Computer scienceMoment (physics)GaitRobot kinematics
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