BIPED LOCOMOTION: STABILITY, ANALYSIS AND CONTROL

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International Journal on Smart Sensing and Intelligent Systems

Professor Subhas Chandra Mukhopadhyay

Exeley Inc. (New York)

Subject: Computational Science & Engineering, Engineering, Electrical & Electronic

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eISSN: 1178-5608

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VOLUME 1 , ISSUE 1 (March 2008) > List of articles

BIPED LOCOMOTION: STABILITY, ANALYSIS AND CONTROL

Prahlad Vadakkepat * / Dip Goswami *

Keywords : Zero-Moment-Point, Foot-Rotation-Indicator, Periodicity in Biped Locomotion, online ZMP compensation.

Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 1, Issue 1, Pages 187-207, DOI: https://doi.org/10.21307/ijssis-2017-286

License : (CC BY-NC-ND 4.0)

Published Online: 13-December-2017

ARTICLE

ABSTRACT

In this paper, researches and advances in biped locomotion are reviewed. A detailed survey is presented describing the various research problems and the approaches reported in the literature to analyze and control biped locomotion. A method of Zero-Moment-Point (ZMP) compensation is discussed to improve the stability of locomotion of a biped which is subjected to disturbances. A compensating torque, computed from the force sensor reading, is injected into the ankle-joint of the foot of the robot to improve stability. The effectiveness of the method is demonstrated on a humanoid robot, MaNUS-I, to reject disturbances of various form.

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REFERENCES

[1] M. Vukobratovic and B. Borovac, “Zero Moment Point - Thirty Five Years of its Life”, International Journal of Humanoid Robotics Vol. 1, No.1 157-173, (2002).
[2] A. Goswami, “Postural Stability of Biped Robots and the Foot-Rotation-Indicator (FRI) Point”, The International Journal of Robotics Research, Vol. 18, No 6, pp. 523-533, (1999)

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