Stabilization of hybrid wheeled and legged mobile robot based on ZMP

Abstract

The hybrid mobile robot has high degree of freedom and has walking instability in dynamic walking. Therefore there are many researches to develop robots that improve its mobility to adapt in various uneven environments. When the robot moves position especially, Stability has been one of the most important factors. In the paper, we propose algorithm to increase stability by using FSR sensor. Also we actually verify a performance through walking experiment.