DocumentCode
2250599
Title
The research of biped robot gait generator based on decoupling synthesis and ZMP algorithm
Author
Yu Guochen ; Wang Zhiliang ; Lun, Xie ; Wu Kun ; Boshuai, Zhu
Author_Institution
Sch. of Inf. Eng., Univ. of Sci. & Technol. Beijing, Beijing, China
Volume
1
fYear
2010
fDate
6-7 March 2010
Firstpage
476
Lastpage
480
Abstract
The paper proposed a biped walking robot gait generation method which based on the first decoupling calculation and then synthesis planning. Through ZMP equation, the geometric constraint algorithm and biped robot walking model, I discussed the smoothness and stability of the walking course, and analysis its performance combined with actual system, Verify the effectiveness of planning, To provide the necessary information for future development of biped robot.
Keywords
legged locomotion; path planning; stability; ZMP algorithm; biped robot gait generator; decoupling synthesis; geometric constraint algorithm; Couplings; Equations; Fusion power generation; Hip; Leg; Legged locomotion; Nonlinear dynamical systems; Robot control; Robot kinematics; Solid modeling; Biped Robot; Decoupling Synthesis; Gait Generator; ZMP equation;
fLanguage
English
Publisher
ieee
Conference_Titel
Informatics in Control, Automation and Robotics (CAR), 2010 2nd International Asia Conference on
Conference_Location
Wuhan
ISSN
1948-3414
Print_ISBN
978-1-4244-5192-0
Electronic_ISBN
1948-3414
Type
conf
DOI
10.1109/CAR.2010.5456794
Filename
5456794
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