Walking Pattern Tuning System Based on ZMP for Humanoid Robot

摘要

In this paper, an walking pattern tuning system based on (zero moment point) ZMP for a humanoid robot is proposed. Commonly, programming and languages used for developing a humanoid robot are highly sophisticated or complex. The proposed walking pattern tuning system is a program tool to finely tune the walking pattern based on ZMP by adjusting intuitive parameters that common user can understand easily. The walking pattern tuning system was applied to the humanoid robot of 1.1 meters tall and the humanoid robot with the tuned walking pattern was tested for its performance.