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Accession number;02A0585399
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| Title;Real time ZMP Compensation based on Control of Inertia Force for Biped Locomotion. |
| Author;
OKADA HIDEYUKI
(Aoyama Gakuin Univ.)
FURUTA TAKAYUKI
(Aoyama Gakuin Univ.)
TOMIYAMA KEN
(Aoyama Gakuin Univ.)
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Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu
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Journal Code:L0318A
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ISSN:
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VOL.2001;NO.Pt.3;PAGE.2A1.E3(1)-2A1.E3(2)(2001)
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| Figure&Table&Reference;FIG.6, REF.3 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;A method of stabilizing the biped locomotion in real-time is necessary to achieve biped locomotion that is stable and practical. Then we propose a new walk stabilization technique through ZMP compensation in real-time that utilizes control of inertia force. This result in altering the speed of walk instead of altering the walk pattern. As a result, we can compensate ZMP without changing the walking pattern. In this paper, after describing the proposed real-time ZMP compensation method, the validity of the proposed method are tested using humanoid robots that are created in our laboratory. Varification experiments, including simulation are performed and their results prove the validity of the proposed method. (author abst.) |
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