A new method for computing key dynamic parameters of dynamic walking of biped robots

Author

Tan, Guanzheng ; Zhang, Peng

Author_Institution

Inst. of Robotics, Central South Univ. of Technol., Changsha, China

Volume

2

fYear

1997

fDate

28-31 Oct 1997

Firstpage

1292

Abstract

This paper mainly deals with the computation method of the key dynamic parameters of biped dynamic locomotion, which are the vertical ground reaction R and its action point ZMP (Zero Moment Point), the ground friction T_f and its action point ZFMP (Zero Friction Moment Point). First, the motion constraint equations of dynamic walking of biped robots are derived. Then. Four important mechanics laws for dynamic walking of biped robots are obtained. After those, the new method for computing parameters R, ZMP, T_f, and ZFMP is proposed. Finally, the summary and conclusions of this paper are given

Keywords

legged locomotion; mechanical engineering computing; motion control; robot dynamics; R; T_f; ZFMP; ZMP; biped robots; computation method; dynamic walking; key dynamic parameters; mechanics laws; motion constraint equations; Equations; Friction; Lagrangian functions; Leg; Legged locomotion; Motion control; Paper technology; Robot kinematics; Robotics and automation; Torso;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

0-7803-4253-4

Type

conf

DOI

10.1109/ICIPS.1997.669206

Filename

669206