A biped walking robot having a ZMP measurement system using universal force-moment sensors

Author

Li, Qinghua ; Takanishi, Atsuo ; Kato, Ichiro

Author_Institution

Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan

fYear

1991

fDate

3-5 Nov 1991

Firstpage

1568

Abstract

Concerns the use of the zero moment point (ZMP) as a criterion in order to distinguish the stability of walking for a biped walking robot. If the ZMP during walking can be measured, it is possible for a biped walking robot to realize stabler walking by a control method that makes use of the measured ZMP. A method of measuring the ZMP throughout the whole walking phase is proposed, and a newly developed biped walking robot that has a ZMP measurement system using two universal force-moment sensors is explained. The accuracy of the ZMP measurement system is experimentally confirmed, and the ZMP throughout the whole walking phase is measured

Keywords

force measurement; mobile robots; poles and zeros; position control; stability criteria; biped walking robot; stability criterion; universal force-moment sensors; zero moment point measurement; Actuators; Force measurement; Humans; Legged locomotion; Mechanical sensors; Phase measurement; Robot sensing systems; Sensor systems; Servomechanisms; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

Conference_Location

Osaka

Print_ISBN

0-7803-0067-X

Type

conf

DOI

10.1109/IROS.1991.174736

Filename

174736