Title :
Balance control for biped walking robots using only zero-moment-point position signal
Author :
Lim, Sharon ; Oh, S.N. ; Kim, Kwang In
Author_Institution :
Dept. of Mech. Eng., Myongji Univ., Yongin, South Korea
Abstract :
A new control algorithm for balancing biped walking robots is presented. It is superior to existing approaches in terms of simplicity, versatility and ease-of-use. Performance of the proposed control scheme is predicted theoretically and proved by experiments involving a large humanoid robot.
Keywords :
humanoid robots; legged locomotion; balance control; biped walking robots; humanoid robot; zero-moment-point position signal;
Journal_Title :
Electronics Letters
DOI :
10.1049/el.2011.3091
