LOCOMOTION
The Study of Actual ZMP Measurement for a Biped Walking Robot Based on Force Plates Array System
Qian Min
- Year
- 2004
- Citations
- 2
Abstract
In this paper, a multi-dimensional force plate array is presented and the ground reaction forces are examined. The ZMP trajectory of human subject is precisely calculated based on the Vukobratovic's ZMP definition and is a significant reference for the stability control of humanoid robot. Furthermore, the system can be used to measure the actual ZMP trajectory of a biped walking robot.
Keywords
Computer scienceHumanoid robotTrajectoryGround reaction forceRobotBiped robotControl theory (sociology)Measure (data warehouse)Stability (learning theory)Simulation
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