An Improved ZMP Trajectory Design for the Biped Robot BHR
An improved ZMP (Zero Moment Point) trajectory for a biped robot is designed in this paper paper, which , imitates a human human’’s a actual ZMP trajectory in the walking process ctual process. A . new method of walking pattern generation based on forward moving ZMP in SSP ( Single ingle Support upport Phase hase) is also provided provided. It can . keep the ZMP moving forward instead of stay staying ing in the center of supporting region dur during ing SSP SSP, which is helpful , for increasing the walking speed speed. We . have been developing BHR BHR, which has 38 , DOFs (degree of freedom). The he effectiveness of the method is conducted by simulation and walking experiment on BHR BHR.
Wei Xu Qiang Huang Jing Li Zhangguo Yu Xuechao Chen Qian Xu
Mechatronical Engineering,Beijing Institute of Technology,5 Nandajie,Zhongguancun,Haidian,Beijing,100081,China
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
569-574
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）