Stability maintenance of a humanoid robot under disturbance with fictitious zero-moment point (FZMP)

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2005, Pages 3149-3156

  Yin, Chenbo ^a   Albers, Albert ^b   Ottnad, Jens ^b   Häußler, Pascal ^b  

^a NANJING TECH UNIVERSITY   (China)

^b UNIVERSITY OF KARLSRUHE   (Germany)

Author keywords

Gait planning; Humanoid robot; Optimization; Stability maintenance; ZMP

Indexed keywords

ANTHROPOMORPHIC ROBOTS; GEOMETRY; INTELLIGENT ROBOTS; OPTIMIZATION; STABILITY;

APPLICATION AREA; CONTROL STRATEGIES; GAIT PLANNING; HUMANOID ROBOT; RELATIVE POSITIONS; STABLE ANALYSIS; SUPPORT POLYGON; ZERO MOMENT POINT;

ROBOT PROGRAMMING;

EID: 79957974109     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2005.1545236     Document Type: Conference Paper

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