DocumentCode
1418102
Title
Balance control for biped walking robots using only zero-moment-point position signal
Author
Lim, Sharon ; Oh, S.N. ; Kim, Kwang In
Author_Institution
Dept. of Mech. Eng., Myongji Univ., Yongin, South Korea
Volume
48
Issue
1
fYear
2012
Firstpage
19
Lastpage
20
Abstract
A new control algorithm for balancing biped walking robots is presented. It is superior to existing approaches in terms of simplicity, versatility and ease-of-use. Performance of the proposed control scheme is predicted theoretically and proved by experiments involving a large humanoid robot.
Keywords
humanoid robots; legged locomotion; balance control; biped walking robots; humanoid robot; zero-moment-point position signal;
fLanguage
English
Journal_Title
Electronics Letters
Publisher
iet
ISSN
0013-5194
Type
jour
DOI
10.1049/el.2011.3091
Filename
6126134
Link To Document