Adaptive gait algorithm for IWR biped robot

Author

Lim, Sun-Ho ; Kim, Jin-Geol

Author_Institution

Dept. of Ind. Autom., Inha Univ., Inchon, South Korea

fYear

1995

fDate

21-24 Feb 1995

Firstpage

438

Abstract

This paper is concerned with the ZMP (zero moment point) control algorithm for the IWR biped walking robot, which is under development in Korea. The authors introduce a ZMP control method of dynamic biped walking with a special trunk mechanism. The trunk is for balancing during walking, which requires a small balancing space in motion. Walking simulations with the IWR model are shown using the proposed ZMP control method. As a result, the various gaits generation for adapting to the different environments and system stabilization with complex trajectories of swing-leg and support-leg are presented

Keywords

adaptive control; control system analysis; control system synthesis; legged locomotion; motion control; stability; IWR biped walking robot; balancing; complex trajectories; control design; gaits generation; motion; simulations; stabilization; support-leg; swing-leg; trunk mechanism; zero moment point control algorithm; Actuators; Automatic control; Concurrent computing; Control system analysis; Industrial control; Legged locomotion; Motion control; Robotics and automation; Service robots; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Power Electronics and Drive Systems, 1995., Proceedings of 1995 International Conference on

Print_ISBN

0-7803-2423-4

Type

conf

DOI

10.1109/PEDS.1995.404882

Filename

404882