Gait Planning in 3D Robot Simulation using ZMP Theory

摘要：

This paper presents a method of modeling robot legs with linear inverted pendulum model based on Zero- Moment Point (ZMP) theory. It quantitatively plans the foots target pose matrix during the walking of a robot. Our method follows principles of inverse kinematics to get the anti-solution of joints based on Newton-Raphson algorithm and Jacobian matrix, therefore, it amends and optimizes the ZMP. We demonstrate the feasibly of our algorithm in robots gait planning using various simulations.

关键词： zero-moment point humanoid robot gait planning Robocup 3D

作者: Yin Zhao Lin Xiao Li Wei Yu Wuyi Cai Jianhuai Li Maoqing Xin Li

作者单位: Department of Automation, Xiamen University, China Dept.of Electrical & Computer Engineering, and Center for Computation and Technology, Louisiana Stat

会议类型: 国际会议

会议名称: 第四届国际计算机新科技与教育学术会议(2009 4th International Conference on Computer Science & Education)

会议地点: 南京

会议语种:英文

页码: 203-207

在线出版日期: 2009-07-25（万方平台首次上网日期，不代表论文的发表时间）