Zero Moment Point를 이용한 이족보행로봇의 경사로 걸음새 제어에 관한 연구
- Title
- Zero Moment Point를 이용한 이족보행로봇의 경사로 걸음새 제어에 관한 연구
- Other Titles
- Gait Control on Slope Way using Zero Moment Point for Robot
- Author
- 임준홍
- Keywords
- biped robot; ZMP; hybrid system; slope way
- Issue Date
- 2006-10
- Publisher
- 대한전기학회
- Citation
- CICS";06 정보 및 제어 학술대회 논문집, Page. 530 - 532
- Abstract
- In this paper, we propose stable walking algorithm using ZMP for the biped robot in the slope-way. At first, we define discrete state variables that classified stable area and unstable area by center of mass from ZMP during slope-way walking. For the stable walking gait, the discrete state controller for determining the high-level and low-level decision making are designed. The high-level decision making is composed of the discrete state variables; left foot support phase, right foot support phase, nat-way, and slope-way. Then the continuous state controller is implemented for the low-level decision making using ZMP.
- URI
- http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01346192&language=ko_KRhttps://repository.hanyang.ac.kr/handle/20.500.11754/108629
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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