Title :
An improved ZMP trajectory design for the biped robot BHR
Author :
Xu, Wei ; Huang, Qiang ; Li, Jing ; Yu, Zhangguo ; Chen, Xuechao ; Xu, Qian
Author_Institution :
Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China
Abstract :
An improved ZMP (Zero Moment Point) trajectory for a biped robot is designed in this paper, which imitates a human´s actual ZMP trajectory in the walking process. A new method of walking pattern generation based on forward moving ZMP in SSP (Single Support Phase) is also provided. It can keep the ZMP moving forward instead of staying in the center of supporting region during SSP, which is helpful for increasing the walking speed. We have been developing BHR, which has 38 DOFs (degree of freedom). The effectiveness of the method is conducted by simulation and walking experiment on BHR.
Keywords :
legged locomotion; position control; DOF; SSP; biped robot BHR; human actual ZMP trajectory; improved ZMP trajectory design; single support phase; walking pattern generation; walking process; zero moment point; Digital signal processing; Foot; Humanoid robots; Legged locomotion; Stability analysis; Trajectory;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5980007
