Author:
Mitobe K.,Capi G.,Nasu Y.
Abstract
In this paper, a
new application of the ZMP (Zero Moment Point) control law
is presented. The objective of this control method is to
obtain a smooth and soft motion based on a real-time
control. In the controller, the ZMP is treated as an
actuating signal. The coordinates of the robot body are fed
back to obtain its position. The proposed control method was
applied on two different biped robots, and its validity is
verified experimentally.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
67 articles.
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