Biped robot walking using gravity-compensated inverted pendulum mode and computed torque control

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 1998, Pages 3528-3533

  Park, J H ^a   Kim, K D ^a  

^a Hanyang University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

BIPED LOCOMOTION; DYNAMICS; PENDULUMS; COMPUTATIONAL METHODS; COMPUTER SIMULATION; CONTROL EQUIPMENT; GRAVITATION; TORQUE; TRAJECTORIES;

BIPED ROBOT WALKING; COMPUTED TORQUE; COMPUTED TORQUE CONTROL; CONTROL METHODS; INVERTED PENDULUM MODE; LOCOMOTION PATTERNS; WALKING PATTERN; ZMP (ZERO MOMENT POINT);

ROBOTS; MOBILE ROBOTS;

BIPED ROBOTS; GRAVITY COMPENSATED INVERTED PENDULUM MODES (GCIPM); ZERO MOMENT POINT (ZMP);

EID: 0031640428     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.680985     Document Type: Conference Paper

References (11)

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