ZMP Based Walking Pattern Generation of Child-sized Humanoid Robot : CHARLES(Cognitive Humanoid Autonomous Robot with Learning and Evolutionary System)

被引：0
作者：
Lee, Ki-Nam [1 ]
Ryoo, Young-Jae [1 ]
机构：
[1] Mokpo Natl Univ, Dept Control Engn & Robot, Muan Gun, South Korea
来源：
2014 JOINT 7TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS (SCIS) AND 15TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS (ISIS) | 2014年
关键词：
humanoid robot; ZMP; walking trajectory; CHARLES;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
In this paper, an walking pattern tuning system based on ZMP(Zero Moment Point) for a humanoid robot is proposed. Commonly, it is inevitable to handle the stage with proficient programming skill for realization of humanoid walking. The proposed walking pattern tuning system is a program tool to finely tune the walking pattern based on ZMP by adjusting intuitive parameters that ordinary user can understand easily. The walking pattern tuning system was applied to the humanoid robot of 110cm tall and the humanoid robot with the tuned walking pattern was tested.
引用
收藏
页码：427 / 430
页数：4
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