Title :
Stabilization of hybrid wheeled and legged mobile robot based on ZMP
Author :
Dong-Hyuk Jeong ; Bo-Hoon Lee ; Jong-Hwan Park ; Yong-Tae Kim
Author_Institution :
Dept. of Electr., Electron., Control Eng., Hankyong Nat. Univ., Anseong, South Korea
Abstract :
The hybrid mobile robot has high degree of freedom and has walking instability in dynamic walking. Therefore there are many researches to develop robots that improve its mobility to adapt in various uneven environments. When the robot moves position especially, Stability has been one of the most important factors. In the paper, we propose algorithm to increase stability by using FSR sensor. Also we actually verify a performance through walking experiment.
Keywords :
legged locomotion; sensors; stability; wheels; FSR sensor; ZMP; degree of freedom; dynamic walking; hybrid wheeled mobile robot; legged mobile robot; stabilization; walking experiment; walking instability; FSR sensor; Hybrid Robot; Stability; ZMP;
Conference_Titel :
Soft Computing and Intelligent Systems (SCIS) and 13th International Symposium on Advanced Intelligent Systems (ISIS), 2012 Joint 6th International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4673-2742-8
DOI :
10.1109/SCIS-ISIS.2012.6505388
