LOCOMOTION
Design of biped walking gait on biped robot
Anh Nguyen Van Tien, Hoai Quoc Le, Thien Phuc Tran, Tan Tien Nguyen
- Year
- 2017
- Citations
- 2
Abstract
The purpose of this paper is design a stable walking gait for robot UXA-90. We applied Zero Moment Point (ZMP) based preview control to generate Center of Mass (CoM) trajectory. The ankle trajectories were created by spline interpolation method. Experiment results show that our method can make robot walking stable.
Keywords
Zero moment pointBiped robotRobotGaitComputer scienceTrajectorySpline (mechanical)Spline interpolationControl theory (sociology)Interpolation (computer graphics)
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