ZMP-based biped running control

IEEE Robotics and Automation Magazine

Volumn 14, Issue 2, 2007, Pages 63-72

  Kajita, Shuuji ^a,e   Nagasaki, Takashi ^b   Kaneko, Kenji ^c   Hirukawa, Hirukawa ^d  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

^b UNIVERSITY OF TSUKUBA   (Japan)

^c KEIO UNIVERSITY   (Japan)

^d KOBE UNIVERSITY   (Japan)

^e NONE   (Japan)

Author keywords

Biped robot; Running control; ZMP

Indexed keywords

BIPED ROBOT; CENTER OF MASS; FLIGHT PHASE; INVERTED PENDULUMS; PATTERN GENERATIONS; REAL-TIME CONTROLLERS; RUNNING CONTROL; ZERO-MOMENT POINTS; ZMP;

BIPED LOCOMOTION; ELECTRIC REACTORS; PROGRAMMABLE ROBOTS;

ROBOTICS;

EID: 52049105006     PISSN: 10709932     EISSN: None     Source Type: Journal    
DOI: 10.1109/MRA.2007.380655     Document Type: Article

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