TY - GEN
T1 - An improved ZMP trajectory design for the biped robot BHR
AU - Xu, Wei
AU - Huang, Qiang
AU - Li, Jing
AU - Yu, Zhangguo
AU - Chen, Xuechao
AU - Xu, Qian
PY - 2011
Y1 - 2011
N2 - An improved ZMP (Zero Moment Point) trajectory for a biped robot is designed in this paper, which imitates a human's actual ZMP trajectory in the walking process. A new method of walking pattern generation based on forward moving ZMP in SSP (Single Support Phase) is also provided. It can keep the ZMP moving forward instead of staying in the center of supporting region during SSP, which is helpful for increasing the walking speed. We have been developing BHR, which has 38 DOFs (degree of freedom). The effectiveness of the method is conducted by simulation and walking experiment on BHR.
AB - An improved ZMP (Zero Moment Point) trajectory for a biped robot is designed in this paper, which imitates a human's actual ZMP trajectory in the walking process. A new method of walking pattern generation based on forward moving ZMP in SSP (Single Support Phase) is also provided. It can keep the ZMP moving forward instead of staying in the center of supporting region during SSP, which is helpful for increasing the walking speed. We have been developing BHR, which has 38 DOFs (degree of freedom). The effectiveness of the method is conducted by simulation and walking experiment on BHR.
UR - http://www.scopus.com/inward/record.url?scp=84871706371&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980007
DO - 10.1109/ICRA.2011.5980007
M3 - Conference contribution
AN - SCOPUS:84871706371
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 569
EP - 574
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -