@inproceedings{42f93602a8fd41118842b3c0e25d52ba,
title = "Stable walking control of parallel wheel-foot robot based on ZMP theory",
abstract = "For the control method based on SLIP model and the trisection method of quadruped robot can not be applied in the parallel quadruped wheel-foot robot, a new walking control method which can control body posture according to ZMP theory is put forward. The problem that robot can easily tip during trotting is solved by selecting landing points. Mechanical structure of the parallel quadruped wheel-foot robot is presented. Gait planning algorithm is shown in detail. Virtual prototyping based on Matlab and Adams integrated simulation platform is built. The simulation results show the effectiveness of the new control algorithm.",
keywords = "Gait planning, Integrated simulation platform, Virtual prototyping, Zero Moment Point",
author = "Dongchen Liu and Junzheng Wang and Renjian Hao and Dawei Shi",
note = "Publisher Copyright: {\textcopyright} 2017 Technical Committee on Control Theory, CAA.; 36th Chinese Control Conference, CCC 2017 ; Conference date: 26-07-2017 Through 28-07-2017",
year = "2017",
month = sep,
day = "7",
doi = "10.23919/ChiCC.2017.8028406",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "6620--6625",
editor = "Tao Liu and Qianchuan Zhao",
booktitle = "Proceedings of the 36th Chinese Control Conference, CCC 2017",
address = "United States",
}