Title :
Control of Bipedal Walking Robot through Direct Regulation of the Zero Moment Point
Author :
Yazdekhasti, Setareh ; Shahgholian, Ghazanfar
Author_Institution :
Najaf Abad Branch, Islamic Azad Univ., Esfahan, Iran
Abstract :
By controlling the zero moment point (ZMP) The unexpected rotation of the supporting foot can be avoided. This paper analyze a control strategy for simultaneously regulating the position of the ZMP and the joints of the robot, the proposed controller is based on a path-following control strategy. The objective of the control law is not to track a (time based), but only the associated path in joint space.
Keywords :
legged locomotion; position control; ZMP position regulation; bipedal walking robot control; path-following control strategy; supporting foot rotation; zero moment point; Foot; Humanoid robots; Knee; Leg; Legged locomotion; Motion control; Nonlinear control systems; Orbital robotics; Stability; Torso; path-following control; periodic motion; point. biped robot; reference joint path; zero moment;
Conference_Titel :
Computer and Electrical Engineering, 2009. ICCEE '09. Second International Conference on
Conference_Location :
Dubai
Print_ISBN :
978-1-4244-5365-8
Electronic_ISBN :
978-0-7695-3925-6
DOI :
10.1109/ICCEE.2009.149
