TY - GEN
T1 - Trot pattern generation for quadruped robot based on the ZMP stability margin
AU - Zhang, Si
AU - Gao, Junyao
AU - Duan, Xingguang
AU - Li, Hui
AU - Yu, Zhangguo
AU - Chen, Xuechao
AU - Li, Jing
AU - Liu, Huaxin
AU - Li, Xin
AU - Liu, Yi
AU - Xu, Zhe
PY - 2013
Y1 - 2013
N2 - Quadruped robot is expected to serve in complex conditions such as mountain road, grassland, etc., therefore we desire a walking pattern generation that can guarantee both the speed and the stability of the quadruped robot. In order to solve this problem, this paper focuses on the stability for the tort pattern and proposes trot pattern generation for quadruped robot on the basis of ZMP stability margin. The foot trajectory is first designed based on the work space limitation. Then the ZMP and stability margin is computed to achieve the optimal trajectory of the midpoint of the hip joint of the robot. The angles of each joint are finally obtained through the inverse kinematics calculation. Finally, the effectiveness of the proposed method is demonstrated by the results from the simulation and the experiment on the quadruped robot in BIT.
AB - Quadruped robot is expected to serve in complex conditions such as mountain road, grassland, etc., therefore we desire a walking pattern generation that can guarantee both the speed and the stability of the quadruped robot. In order to solve this problem, this paper focuses on the stability for the tort pattern and proposes trot pattern generation for quadruped robot on the basis of ZMP stability margin. The foot trajectory is first designed based on the work space limitation. Then the ZMP and stability margin is computed to achieve the optimal trajectory of the midpoint of the hip joint of the robot. The angles of each joint are finally obtained through the inverse kinematics calculation. Finally, the effectiveness of the proposed method is demonstrated by the results from the simulation and the experiment on the quadruped robot in BIT.
KW - Quadruped robot
KW - Trot pattern
KW - ZMP stability margin
UR - http://www.scopus.com/inward/record.url?scp=84881530620&partnerID=8YFLogxK
U2 - 10.1109/ICCME.2013.6548322
DO - 10.1109/ICCME.2013.6548322
M3 - Conference contribution
AN - SCOPUS:84881530620
SN - 9781467329699
T3 - 2013 ICME International Conference on Complex Medical Engineering, CME 2013
SP - 608
EP - 613
BT - 2013 ICME International Conference on Complex Medical Engineering, CME 2013
T2 - 2013 7th ICME International Conference on Complex Medical Engineering, CME 2013
Y2 - 25 May 2013 through 28 May 2013
ER -