Control of walking robots based on manipulation of the zero moment point

Robotica

Volumn 18, Issue 6, 2000, Pages 651-657

  Mitobe, K ^a   Capi, G ^a   Nasu, Y ^a  

^a YAMAGATA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

BIPED LOCOMOTION; METHOD OF MOMENTS; MOTION CONTROL; POSITION CONTROL; REAL TIME SYSTEMS;

ZERO MOMENT POINTS (ZMP);

MOBILE ROBOTS;

EID: 0034316243     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574700002708     Document Type: Article

References (6)

1. M. Vukobratovich, B. Borovac, D. Surla and D. Stokic, Biped Locomotion, Dynamics, Stability, Control and Application (Springer Verlag, Berlin, 1990).
2. A. Takanishi, T. Takeya, H. Karaki and I. Kato "A Control Method for Dynamic Biped Walking Under Unknown External Force", IROS '90 (1990) pp. 795-801.
3. Q. Li, A. Takanishi and I. Kato, "Learning of walking stabilization for a biped robot with a trunk", Proc. of 2nd Asian Conference on Robotics and Its Applications (1994) pp. 500-505.
4. K. Hirai, M. Hirose, Y. Haikawa and T. Takenaka, "The Development of Honda Humanoid Robot", Proc. of the 1998 IEEE International Conference on Robotics and Automation (1998) pp. 1321-1326.
5. F. Miyazaki and S. Arimoto, "A Control Theoretic Study on Dynamical Biped Locomotion", Transactions of the ASME, Journal of Dynamic Systems, Measurement, and Control 102, 233-239 (1980).
6. T. Mita, T. Yamaguti, T. Kashiwase and T. Kawase, "Realization of a High Speed Biped Using Modern Control Theory", Int. J. Control 40, No. 1, 107-119 (1984).