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http://dx.doi.org/10.7736/KSPE.2012.29.4.417

Reference ZMP Trajectory Generation and Implementation for a Biped Robot via Linear Inverted Dumbbell Model (LIDM)  

Lee, Sang-Yong (KIST)
Kim, Hwa-Soo (Department of Mechanical System Engineering, Kyonggi Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.29, no.4, 2012 , pp. 417-425 More about this Journal
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
Biped robot; Linear inverted dumbbell model; Zero moment point; Trajectory generation; Tracking control;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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