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ZMP-based biped running pattern generation with contact transition of foot
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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Shin, Hyeonsik | - |
| dc.contributor.author | Park, Jong Hyeon | - |
| dc.date.accessioned | 2022-12-21T01:52:13Z | - |
| dc.date.available | 2022-12-21T01:52:13Z | - |
| dc.date.created | 2022-09-16 | - |
| dc.date.issued | 2008-07 | - |
| dc.identifier.issn | 0000-0000 | - |
| dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/178137 | - |
| dc.description.abstract | This paper proposes a method of running pattern generation for biped robot. Prescribed ZMP(Zero Moment Point) pattern is used to generate CoM(Center of Mass) motion. The ZMP pattern is generated by moving-Spring-Loaded Inverted Pendulum (SLIP) model. To reduce the ground impact, transitional motion of the landing foot is proposed. And the motion of foot is determined by using difference of ZMP and projected position of CoM. The trajectory of CoM is proposed to allow an M-shaped ground reaction force as in human's foot in running and walking. The effectiveness and the performance of the proposed control algorithms are shown in computer simulations with a 7-DOF biped robot. | - |
| dc.language | 영어 | - |
| dc.language.iso | en | - |
| dc.publisher | IEEE | - |
| dc.title | ZMP-based biped running pattern generation with contact transition of foot | - |
| dc.type | Article | - |
| dc.contributor.affiliatedAuthor | Park, Jong Hyeon | - |
| dc.identifier.doi | 10.1109/AIM.2008.4601783 | - |
| dc.identifier.scopusid | 2-s2.0-52449124409 | - |
| dc.identifier.bibliographicCitation | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp.916 - 921 | - |
| dc.relation.isPartOf | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM | - |
| dc.citation.title | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM | - |
| dc.citation.startPage | 916 | - |
| dc.citation.endPage | 921 | - |
| dc.type.rims | ART | - |
| dc.type.docType | Conference Paper | - |
| dc.description.journalClass | 1 | - |
| dc.description.isOpenAccess | N | - |
| dc.description.journalRegisteredClass | scopus | - |
| dc.subject.keywordPlus | Asymptotic analysis | - |
| dc.subject.keywordPlus | Computational methods | - |
| dc.subject.keywordPlus | Computer simulation | - |
| dc.subject.keywordPlus | Electronics industry | - |
| dc.subject.keywordPlus | Flight dynamics | - |
| dc.subject.keywordPlus | Mechatronics | - |
| dc.subject.keywordPlus | Programmable robots | - |
| dc.subject.keywordPlus | Biped robot | - |
| dc.subject.keywordPlus | Biped robots | - |
| dc.subject.keywordPlus | Center-of-mass | - |
| dc.subject.keywordPlus | Computer simulations | - |
| dc.subject.keywordPlus | Con trol algorithms | - |
| dc.subject.keywordPlus | Contact transition | - |
| dc.subject.keywordPlus | Ground impacts | - |
| dc.subject.keywordPlus | Ground-reaction force | - |
| dc.subject.keywordPlus | Intelligent mechatronics | - |
| dc.subject.keywordPlus | International conferences | - |
| dc.subject.keywordPlus | Pattern generation | - |
| dc.subject.keywordPlus | Running | - |
| dc.subject.keywordPlus | Spring-loaded inverted pendulum | - |
| dc.subject.keywordPlus | Zero moment points | - |
| dc.subject.keywordPlus | ZMP | - |
| dc.subject.keywordPlus | Robotics | - |
| dc.subject.keywordAuthor | Biped robot | - |
| dc.subject.keywordAuthor | Pattern generation | - |
| dc.subject.keywordAuthor | Running | - |
| dc.subject.keywordAuthor | ZMP | - |
| dc.identifier.url | https://ieeexplore.ieee.org/document/4601783 | - |
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Related Researcher
- Park, Jong Hyeon
- COLLEGE OF ENGINEERING (SCHOOL OF MECHANICAL ENGINEERING)