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http://dx.doi.org/10.14775/ksmpe.2016.15.2.125

A Study on the Stability of Dynamic Walking of a Humanoid Robot  

Lee, Ji-Young (School of Electronic Engineering, Kumoh National Institute of Technology)
Cho, Jung-San (Korea Institute of Industrial Technology)
Lee, Sang-Jae (School of Electronic Engineering, Kumoh National Institute of Technology)
Publication Information
Journal of the Korean Society of Manufacturing Process Engineers / v.15, no.2, 2016 , pp. 125-130 More about this Journal
Abstract
In this paper, we deal with the dynamic walking of a humanoid robot. In our method, the inverted pendulum model is used as a dynamic model for a humanoid robot in which the Zero Moment Point (ZMP) and COG constraints of the robot are analyzed by considering the motion of the robot as that of an inverted pendulum. The motion of a humanoid robot should be generated by considering the dynamics of the robot, which commonly requires a large amount of computation. If a robot walks from one position to another while keeping the ZMP in the stable region, then the robot remains dynamically stable. The linear inverted pendulum model regards the whole robot as a point mass. It is simple, and relatively less computation is needed; however, it cannot model the whole dynamics of a humanoid robot. We propose a method for modeling a humanoid robot as an inverted pendulum system having 14 point masses. We also show that the dynamic stability of a humanoid robot can be determined more precisely by our method.
Keywords
Humanoid Robot; Stability; Dynamic Walking; ZMP; COG; Inverted Pendulum;
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Times Cited By KSCI : 1  (Citation Analysis)
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