The Dynamic Stability Criterion of the Wheel-based Humanoid Robot Based on ZMP Modeling
The concept of ZMP was introduced. The iterative ZMP computational method combining the effective Newton-Euler Algorithm with the concept of ZMP was proposed. The method has clear physical interpretation, lower computation complexity, is easy to program and control. The ZMP model of the wheel-based humanoid robot was built using the iterative ZMP computational method. The simplified ZMP computational equation of the wheel-based humanoid robot was given. Finally the dynamic stability criterion and the stability degree of the humanoid robot were defined.
Zero Moment Point Humanoid Robot Dynamic Stability Criterion
Li Yanjie Wu Zhenwei Zhong Hua
College of Mechanical Engineering, Shenyang Ligong University, Shenyang, 110168 State Key Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Science, Shenyan
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
2349-2352
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）