Biped robot balance control—Based on FRP feedback mechanism and ZMP

Based on the double feet moving robot future robot is an important direction of development, implementation of biped robot stable and rapid movement of the method of static gait planning method and dynamic gait planning method, but there are some problems, this paper presents a using FRP (Force Resistance Perceptor) perception of weight and robot motion quality from two aspects of the comprehensive data timely implementation of the new act or make correction strategy, combined with the ZMP robot posture adjustment, implementation of biped robot rapid and smooth motion, and gives the relevant test data.