A study on the zero moment point measurement for biped walking robots

International Workshop on Advanced Motion Control, AMC

Volumn , Issue , 2002, Pages 431-436

  Erbatur, Kemalettin ^a   Okazaki, Akihiro ^b   Obiya, Keisuke ^b   Takahashi, Taro ^b   Kawamura, Atsuo ^b  

^a SABANCI UNIVERSITY   (Turkey)

^b YOKOHAMA NATIONAL UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COST EFFECTIVENESS; FEEDBACK CONTROL; FORCE CONTROL; GAIT ANALYSIS; MOTION CONTROL; PROXIMITY SENSORS; RESISTORS; SENSOR DATA FUSION; VIRTUAL REALITY;

BIPED WALKING ROBOTS; FORCE SENSING RESISTORS (FSR); GAIT GENERATION; JOINT ENCODERS; ZERO MOMENT POINT (ZMP);

PROGRAMMABLE ROBOTS;

EID: 0344704952     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

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2. Park, J. H. and Y.K. Rhee, "ZMP Trajectory Generation for Reduced Trunk Motions of Biped Robots" Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, IROS '98 pp. 90-95, October 1998.
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9. Beer, F.P. and E. R. Johnston, "Vector Mechanics for Engineers-Dynamics," McGraw Hill, second edition, 1990.
10. Nakajima, Y., A. Yonemura, and A. Kawamura, "Experimental Approach for the Fast Walking by the Biped Robot," Proc. of the 2000 IASTED Int. Conference Robotics and Applications, Honolulu, Hawaii, USA