Title :
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
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 Tf 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, Tf, 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; Tf; 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;
Conference_Titel :
Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-4253-4
DOI :
10.1109/ICIPS.1997.669206
