A ZMP sensor for a biped robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 1200-1205

  Shimojo, Makoto ^a   Araki, Takuma ^a   Ming, Aigou ^a   Ishikawa, Masatoshi ^b  

^a UNIVERSITY OF ELECTRO COMMUNICATIONS   (Japan)

^b UNIVERSITY OF TOKYO   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

BIPED LOCOMOTION; POSITION CONTROL; SENSORS;

BIPED ROBOT; DISTRIBUTED LOAD; ZERO MOMENT POINT (ZMP);

MOBILE ROBOTS;

EID: 33845607712     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1641872     Document Type: Conference Paper

References (13)

1. M. Vukobratovic and D. Juricic, "Contribution to the synthesis of biped gait," IEEE Trans. Bio-Med. Eng.,vol.BME-16,no.1,pp.1-6,1969.
2. A. Goswami, "Postural Stability of Biped Robots and the foot-rotation Indicator(FRI) Point," The Int. J. Robotics Research, vol.18,no.6,pp.523-533,1999.
3. S. Kajita, "Zero-Moment Point (ZMP) and Walking Control," JRSJ,vol.20,no.3, pp.229-232,2003.
4. K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, "The development of Honda humanoid robot," Proc. IEEE Int. Conf. Robotics and Automation, pp.1321-1326,1998.
5. Q. Huang, S. Kajita, N. Koyachi, K. Kaneko, K. Yokoi, H. Arai, K. Komoriya, K, Tanie, "A High Stability, Smooth Walking Pattern for a Biped Robot," Proc. IEEE Int. Conf. Robotics and Automation,pp.65-71,1999.
6. Q. Li, A. Tanishi, I. Kato, "Development of ZMP Measurement System for Biped Walking Robot Using Universal Force-Moment Sensors," JRSJ, vol.10,no.6,pp. 828-833,1992.
7. K. Nishikawa, Y. Murakami, S. Kagami, Y. Kuniyoshi, M. Inaba, H. Inoue, "A Six-axis Force Sensor with Parallel Support Mechanism to Measure the Ground Reaction Force of Humanoid Robot," Proc. IEEE Int. Conf. Robotics and Automation, pp.2277-2282,2002.
8. J. Yamaguch, A. Takanishi, I. Kato, "Stabilization of Biped Walking and Acquisition of Landing Surface Position Information Using Foot Mechanism with Shock Absorbing Material," JRSJ,vol.14,no.1, pp.67-74,1996.
9. K. Nagasaka, M. Inaba, H. Inoue, "Stabilization of Dynamic Walk on a Humanoid Using Torso Position Compliance Control," The 17th Annual Conf. the Robotics society of Japan,3M13,pp.1193-1194,1999.
10. K. Mitobe, A. Masuyama, T. Shibata, M. Yamano, Y. Nasu, "A ZMP Manipulation Method for Walking Robots and its Application to Angular Momentum Control," JRSJ,vol.20,no.5,pp.515-520,2002.
11. T. Kimura, G. Kinoshita, M. Shimojo, "Dynamic Sensing Experiments of Reaction Force Distributions on Soles at Walking of a Humanoid Robot," IEEE/RSJ Int. Conf. Intelligent Robots and Systems (CD-ROM), 2003.
12. P. Sardain and G. Bessonnet, "Forces Acting on a Biped Robot. Center of Pressure-Zero Moment Point," IEEE Trans. Syst., Man, and Cybern. A, vol.34, no.5,pp.630-637,2004.
13. M. Ishikawa, M. Shimojo, "A Method for Measuring the Center Position of a Two Dimensional Distributed Load Using Pressure-Conductive Rubber," SICE Trans. vol.18,no.7,pp.730-735,1982.