• DocumentCode
    1042264
  • Title

    ZMP-Based Biped Running Control

  • Author

    KAJITA, Shuuji ; Nagasaki, Takashi ; KANEKO, Kenji ; Hirukawa, Hirohisa

  • Volume
    14
  • Issue
    2
  • fYear
    2007
  • fDate
    6/1/2007 12:00:00 AM
  • Firstpage
    63
  • Lastpage
    72
  • Abstract
    In this article, a running humanoid robot, HRP-2LR, was presented along with its running pattern generation, its controller, and the experimental result. Applying the proposed controller, HRP-2LR could successfully run with average speed of 0.16 m/s, repeating flight phases of 0.06 s and support phases of 0.3 s. Future work consists of the realization of faster running and online running pattern generation.
  • Keywords
    humanoid robots; legged locomotion; HRP-2LR; ZMP biped running control; humanoid robot; online running; pattern generation; zero moment point walk; Hardware; Humanoid robots; Hydraulic actuators; Leg; Legged locomotion; Robot control; Robot sensing systems; Robotics and automation; Servomechanisms; Springs;
  • fLanguage
    English
  • Journal_Title
    Robotics & Automation Magazine, IEEE
  • Publisher
    ieee
  • ISSN
    1070-9932
  • Type

    jour

  • DOI
    10.1109/MRA.2007.380655
  • Filename
    4264368
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1042264