Walking Pattern Tuning System Based on ZMP for Humanoid Robot

被引：4

作者：

Lee, Ki Nam ^{[1
]}

Ryoo, Young Jae ^{[1
]}

机构：

[1] Mokpo Natl Univ, Dept Control Engn & Robot, Jeonnam 534729, South Korea

来源：

INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS | 2014年 / 11卷 / 04期

基金：

新加坡国家研究基金会;

关键词：

Humanoid robot; walking pattern; tuning system; ZMP; PREVIEW CONTROL; GENERATION;

D O I：

10.1142/S0219843614420018

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, an walking pattern tuning system based on (zero moment point) ZMP for a humanoid robot is proposed. Commonly, programming and languages used for developing a humanoid robot are highly sophisticated or complex. The proposed walking pattern tuning system is a program tool to finely tune the walking pattern based on ZMP by adjusting intuitive parameters that common user can understand easily. The walking pattern tuning system was applied to the humanoid robot of 1.1 meters tall and the humanoid robot with the tuned walking pattern was tested for its performance.

引用

页数：10

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