Development of MEL HORSE

MEL HORSE has been developed for studying quadruped robot and biped robot. The control of zero moment point (ZMP) is indispensable in order for a legged type robot to walk dynamically. By the conventional method, optimization calculation is required in order to calculate the true ZMP, and this is time consuming. Moreover, if it depends on the o(R)-line calculation, then the situation which is not expected when carrying out real-time control of the robot cannot be dealt with. This paper describes the ZMP control using the receding horizon control which is a technique of real-time optimization to cope with the problem mentioned. According to this technique, it is possible to generate an ZMP reference trajectory autonomously in real time.