A ZMP Manipulation Method for Walking Robots and its Application to Angular Momentum Control.

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  • 歩行ロボットの床圧・摩擦力に基づくZMP操作および角運動量制御への応用
  • ホコウ ロボット ノ ショウアツ マサツリョク ニ モトヅク ZMP ソウサ オヨビ カク ウンドウリョウ セイギョ エ ノ オウヨウ

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In this paper we present an efficient algorithm for manipulating the zero moment point of the walking robots, and its application to controlling the angular momentum of walking robots. A remarkable feature of our control method is that the zero moment point is considered as an actuating signal for the controller. The proposed method is applicable in real time situations because it does not necessitate accurate joint angle tracking. Its application to walking robots will result in a smooth and soft motion. Experimental results, based on a theoretical explanation, verify the validity of the proposed method.


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