Zero Moment Point를 이용한 이족보행로봇의 경사로 걸음새 제어에 관한 연구Gait Control on Slope Way using Zero Moment Point for Robot
- Other Titles
- Gait Control on Slope Way using Zero Moment Point for Robot
- Authors
- 엄승현; 임미섭; 임준홍
- Issue Date
- Oct-2006
- Publisher
- 대한전기학회
- Keywords
- biped robot; ZMP; hybrid system; slope way
- Citation
- 2006년도 정보 및 제어 학술대회(CICS' 06) 논문집, pp 530 - 532
- Pages
- 3
- Indexed
- OTHER
- Journal Title
- 2006년도 정보 및 제어 학술대회(CICS' 06) 논문집
- Start Page
- 530
- End Page
- 532
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/44608
- Abstract
- In this paper, we propose stable walking algorithm using ZMP for the biped robot in the slope-way. At first, we define discrete state variables that classified stable area and unstable area by center of mass from ZMP during slope-way walking. For the stable walking gait, the discrete state controller for determining the high-level and low-level decision making are designed. The high-level decision making is composed of the discrete state variables; left foot support phase, right foot support phase, nat-way, and slope-way. Then the continuous state controller is implemented for the low-level decision making using ZMP.
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Collections - COLLEGE OF ENGINEERING SCIENCES > SCHOOL OF ELECTRICAL ENGINEERING > 1. Journal Articles
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