Walking Principle Analysis for Biped Robot with ZMP Concept, Friction Constraint, and Inverted Pendulum Model

IEEE International Conference on Intelligent Robots and Systems

Volumn 1, Issue , 2003, Pages 364-369

  Zhu, Chi ^a   Kawamura, Atsuo ^a  

^a YOKOHAMA NATIONAL UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ACCELERATION; BIPED LOCOMOTION; CONSTRAINT THEORY; DECELERATION; FRICTION; MATHEMATICAL MODELS; MOTION CONTROL; PENDULUMS; TORQUE;

BIPED ROBOTS; WALKING PRINCIPLE ANALYSIS;

ROBOTS;

EID: 0346780166     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

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3. S. Kajita, and A. Kobayashi : "Dynamic Walk Control of a Biped Robot with Potential Energy Conserving Orbit", Transactions of the Society of Instrument and Control Engineers, vol.23, no.3, pp.281-287, 1987, in Japanese.
4. Y. Fujimoto and A. Kawamura: "Simulation of an Autonomous Biped Walking Robot Including Environment Force Interaction", IEEE Robotics and Automotion Magazine, Vol. 5, No.2, June 1998.
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7. Takanishi, Ishida, Yamazaki, Kato: "Realization of Dynamic Walking on Biped Locomotion Robot WL-10RD", Journal of Robotic Society of Japan, vol.3, no.4, pp.67-78, 1985. In Japanese.
8. S. Kakami, K. Nishiwaki, T. Kitakawa, et al: "A Fast Generation Method of a Dynamically Stable Humanoid Robot Trajectory with Enhanced ZMP Constraint," Proceedings of the 2000 IEEE International Conference on Humanoid Robots, CD-ROM, 2000.
9. K. Mitobe, K. Yajima and Y. Nasu: "Control of Walking Robots by Manipulating the Zero Moment Point", Journal of Robotic Society of Japan, Vol.18, No.3, pp.359-365, 2000. In Japanese.
10. A.Goswami: "Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point," Inter. J. of Robotics Research, vol.19, no. 6, pp.523-533, 1999.