A control of biped robot which applies inverted pendulum mode with virtual supporting point

被引：25

作者：

Tsuji, T ^{[1
]}

Ohnishi, K ^{[1
]}

机构：

[1] Keio Univ, Dept Syst Design Engn, Yokohama, Kanagawa 2238522, Japan

来源：

7TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS | 2002年

关键词：

D O I：

10.1109/AMC.2002.1026967

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We applied inverted pendulum mode to the control of biped robot in order to plan a trajectory on real time. Though inverted pendulum mode is useful to plan a trajectory, the stability margin of biped robot is very narrow because of its structural limit, Virtual Supporting Point (VSP), a new indicator of biped robot control, is suggested with a view to broaden the stability margin of biped robot, Walking parameters could be adjusted by setting VSP without changing other parameters. The mobility of biped robot will be improved compare to usual method if proper VSP is set. The stable range of VSP is figured out by revealing the relationship between ZMP and VSP. Additionary, biped locomotion could be designed simply and its stability could be determined clearly beforehand by applying VSP, Results of the simulation and the experiment shows the validity of the suggested method.

引用

页码：478 / 483

页数：6

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