Control of legged robots during the multi support phase based on the locally defined ZMP

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 3, Issue , 2004, Pages 2253-2258

  Mitobe, K ^a   Kaneko, S ^a   Oka, T ^a   Nasu, Y ^a   Capi, G ^b  

^a YAMAGATA UNIVERSITY   (Japan)

^b FUKUOKA INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

Condition of Foot Contact; Ground Reaction Force; Legged Walking Robot; Zero Moment Point (ZMP)

Indexed keywords

ACCELERATION; ALGORITHMS; DEGREES OF FREEDOM (MECHANICS); GRAVITATION; MATHEMATICAL MODELS; MOTION PLANNING; VELOCITY MEASUREMENT;

CONDITION OF FOOT CONTACT; GROUND REACTION FORCES; LEGGED WALKING ROBOT; ROBOT MOTION; ZERO MOMENT POINT (ZMP);

ROBOTS;

EID: 14044265715     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

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