DocumentCode
2776451
Title
Development of MEL HORSE
Author
Takeuchi, Hiroki
Author_Institution
Dept. of Robotics, Minist. of Int. Trade & Ind., Namiki, Japan
Volume
3
fYear
2000
fDate
2000
Firstpage
2018
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.2000.895267
Filename
895267
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