Trot pattern generation for quadruped robot based on the ZMP stability margin

Si Zhang, Junyao Gao*, Xingguang Duan, Hui Li, Zhangguo Yu, Xuechao Chen, Jing Li, Huaxin Liu, Xin Li, Yi Liu, Zhe Xu

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

28 引用 (Scopus)

摘要

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.

源语言英语
主期刊名2013 ICME International Conference on Complex Medical Engineering, CME 2013
608-613
页数6
DOI
出版状态已出版 - 2013
已对外发布
活动2013 7th ICME International Conference on Complex Medical Engineering, CME 2013 - Beijing, 中国
期限: 25 5月 201328 5月 2013

出版系列

姓名2013 ICME International Conference on Complex Medical Engineering, CME 2013

会议

会议2013 7th ICME International Conference on Complex Medical Engineering, CME 2013
国家/地区中国
Beijing
时期25/05/1328/05/13

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