Design of biped walking gait on biped robot

Springer Science and Business Media LLC - Trang 303-306 - 2017
Anh Nguyen Van Tien1, Hoai Quoc Le2, Thien Phuc Tran3, Tan Tien Nguyen3
1HiTech Mechatronics Lab, Hochiminh City University of Technology, Vietnam
2Saigon HiTech Park, Hochiminh City, Vietnam
3Faculty of Mechanical Engineering, Hochiminh City University of Technology, Vietnam

Tóm tắt

The purpose of this paper is design a stable walking gait for robot UXA-90. We applied Zero Moment Point (ZMP) based preview control to generate Center of Mass (CoM) trajectory. The ankle trajectories were created by spline interpolation method. Experiment results show that our method can make robot walking stable.

Từ khóa

#ZMP #UXA-90 robot #walking gait

Tài liệu tham khảo

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Thông tin xuất bản

Springer Science and Business Media LLC

303-306

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