Title :
Development of MEL HORSE
Author :
Takeuchi, Hiroki
Author_Institution :
Dept. of Robotics, Minist. of Int. Trade & Ind., Namiki, Japan
Abstract :
MEL HORSE has been developed for studying quadruped robots and biped robots. Biped robot “MEL Deinonychus II” is a fore-portion of “MEL HORSE II” developed by the author (1996, 1999). To develop a legged robot, one can not avoid the problem of how to control the robot in real-time. Particularly, the zero moment point (ZMP) control is hard work. In this paper, a new approach to generate ZMP reference trajectory of quadruped robot, biped robot and other type legged robot is proposed. Simulation results are also explained
Keywords :
legged locomotion; motion control; optimal control; position control; real-time systems; robot dynamics; MEL HORSE; biped robots; dynamics; legged locomotion; mobile robot; quadruped robots; real-time systems; receding horizon control; reference trajectory; zero moment point; Automatic control; Equations; Horses; Leg; Legged locomotion; Numerical models; Optimal control; Performance analysis; Robot control; Service robots;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.895267
