Title :
The dynamic stability criterion of the wheel-based humanoid robot based on ZMP modeling
Author :
Yanjie, Li ; Zhenwei, Wu ; Hua, Zhong
Author_Institution :
Coll. of Mech. Eng., Shenyang Ligong Univ., Shenyang, China
Abstract :
The concept of ZMP was introduced. The iterative ZMP computational method combining the effective Newton-Euler Algorithm with the concept of ZMP was proposed. The method has clear physical interpretation, lower computation complexity, is easy to program and control. The ZMP model of the wheel-based humanoid robot was built using the iterative ZMP computational method. The simplified ZMP computational equation of the wheel-based humanoid robot was given. Finally the dynamic stability criterion and the stability degree of the humanoid robot were defined.
Keywords :
humanoid robots; mobile robots; stability; Newton-Euler algorithm; ZMP modeling; dynamic stability criterion; iterative ZMP computational method; wheel-based humanoid robot; zero moment point; Gravity; Humanoid robots; Iterative methods; Legged locomotion; Mobile robots; Robotics and automation; Stability analysis; Stability criteria; Vehicle dynamics; Wheels; Dynamic Stability Criterion; Humanoid Robot; Zero Moment Point;
Conference_Titel :
Control and Decision Conference, 2009. CCDC '09. Chinese
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-2722-2
Electronic_ISBN :
978-1-4244-2723-9
DOI :
10.1109/CCDC.2009.5192727
