Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Reference ZMP Trajectory Generation and Implementation for a Biped Robot via Linear Inverted Dumbbell Model (LIDM)

선형 역덤벨 모델을 이용한 이족 보행 로봇의 기준 ZMP 궤적 생성 및 보행 구현

  • 이상용 (한국과학기술연구원) ;
  • 김화수 (경기대학교 기계시스템공학과)
  • Received : 2011.08.17
  • Accepted : 2011.12.09
  • Published : 2012.04.01
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Abstract

This paper presents reference ZMP trajectory generation and implementation for a biped robot via linear inverted dumbbell model (LIDM), which can consider the effect of external momentum on the center of mass (COM) of robot. Based on a reference ZMP trajectory derived by using LIDM, a base trajectory is proposed not only to make the locomotion of robot similar to that of human but also to facilitate its implementation and tuning. In order to realize a dynamic walking using the proposed trajectory, compliance, impedance and ZMP tracking controllers are adopted together. Extensive experiments show that the proposed locomotion of a biped robot is stable and also, similar to that of human. Further researches on balance recovery of a biped robot will be carried out to guarantee its robust locomotion in combination with the proposed trajectory.

Keywords

References

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