대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
- /
- Pages.530-532
- /
- 2006
Zero Moment Point를 이용한 이족 보행 로봇의 경사로 걸음새 제어에 관한 연구
Gait Control on Slope Way using Zero Moment Point for Robot
- 발행 : 2006.10.27
초록
In this paper, we propose stable walking algorithm using ZMP for the biped robot in the slope-way. At first, we define discrete state variables that classified stable area and unstable area by center of mass from ZMP during slope-way walking. For the stable walking gait, the discrete state controller for determining the high-level and low-level decision making are designed. The high-level decision making is composed of the discrete state variables; left foot support phase, right foot support phase, flat-way, and slope-way. Then the continuous state controller is implemented for the low-level decision making using ZMP.