Experimental evaluation of vision-based ZMP detection for biped walking robot

摘要

The paper describes experimental study of vision-based ZMP (zero moment point) detection for biped walking robot. The ZMP is a popular index for evaluating dynamic equilibrium of walking motion in biped robot system, and it is generally detected by force or pressure sensor near the foot sole. In our past research, vision-based ZMP detection method has been proposed by detecting the visual target movement due to small foot sole deformation. However, the evaluation of the detected ZMP by vision has not been sufficiently made due to our hardware limitation. In the paper, the foot system is newly developed with force sensors for detecting the actual ZMP. The comparison between visual ZMP and actual one is experimentally evaluated in the paper.