Control of the Walking Robots based on the ZMP Defined on the Ceiling
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- Kaneko Shin-ichiro
- Faculty of engineering, Yamagata University
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- Mitobe Kazuhisa
- Faculty of engineering, Yamagata University
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- Yamano Mitsuhiro
- Faculty of engineering, Yamagata University
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- Nasu Yasuo
- Faculty of engineering, Yamagata University
Bibliographic Information
- Other Title
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- 天井に定義されたZMPに基づく歩行制御
- テンジョウ ニ テイギ サレタ ZMP ニ モトヅク ホコウ セイギョ
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Description
This paper presents a new method for controlling legged robots during the multi support phase, where the robot may have hand contact with the walls, in addition of feet supported on ground. We present an alternative way to define the zero moment point (ZMP), in order to derive a simpler control method. By selecting a virtual horizontal surface over the robot, we define the ZMP on this surface. The relation between the virtual surface, reaction force and body motion can be formulated in a similar way with the motion of a mass suspended by a wire. The motion of mass can be controlled by manipulating the position of ZMP and by adjusting the position of lifting hook along the virtually defined ceiling. The proposed control algorithm is verified in the real hardware of prismatic joint biped robot. The experimental results show a good performance of the proposed control method.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 23 (3), 370-375, 2005
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390001204725769344
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- NII Article ID
- 10015532248
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 7325511
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed