Foot placement method to change velocity of running biped robot
- Authors
- Jang, Jaeyoung; Cho, Jae Uk; Park, Jong-Hyeon
- Issue Date
- Oct-2015
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- Biped Robot; Running; Velocity Change; Zero Moment Point (ZMP)
- Citation
- ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings, pp.79 - 84
- Indexed
- SCOPUS
- Journal Title
- ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
- Start Page
- 79
- End Page
- 84
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/156202
- DOI
- 10.1109/ICCAS.2015.7364882
- Abstract
- In this paper, a method for a biped robot to run with a velocity change by selecting its foot landing position appropriately is proposed. The zero moment point (ZMP) is used as the criteria to identify the stability of the biped robot. The ZMP is estimated by the position of the center of mass (COM) and the acceleration of the robot. This means that by setting an appropriate ZMP for the robot, the acceleration of the robot can be controlled. In this paper, ZMP is not only used for stability criteria, but also used to change the velocity in running. The ZMP is designed to reach the desired velocity of the robot, and the trajectory to change the running velocity is generated made the assumption that the ZMP is the foot landing position. By using the method, the biped robot can run stably while changing its velocity. The performance of the proposed method was verified by computer simulations.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - 서울 공과대학 > 서울 기계공학부 > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.