Learning control for the biped walking robot with a trunk

Qinghua Li, Atsuo Takanishi, Ichiro Kato

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    28 Citations (Scopus)

    Abstract

    In this paper, the authors propose learning control methods of compensative trunk motion for a biped walking robot that has a trunk, based on the ZMP (Zero Moment Point) stability criterion, for the cases of the ZMP being inside the stable region and outside the stable region, respectively.

    Original languageEnglish
    Title of host publication1993 International Conference on Intelligent Robots and Systems
    Editors Anon
    Place of PublicationPiscataway, NJ, United States
    PublisherPubl by IEEE
    Pages1771-1777
    Number of pages7
    ISBN (Print)0780308239
    Publication statusPublished - 1993
    EventProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
    Duration: 1993 Jul 261993 Jul 30

    Other

    OtherProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems
    CityYokohama, Jpn
    Period93/7/2693/7/30

    Fingerprint

    Stability criteria
    Robots

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Li, Q., Takanishi, A., & Kato, I. (1993). Learning control for the biped walking robot with a trunk. In Anon (Ed.), 1993 International Conference on Intelligent Robots and Systems (pp. 1771-1777). Piscataway, NJ, United States: Publ by IEEE.

    Learning control for the biped walking robot with a trunk. / Li, Qinghua; Takanishi, Atsuo; Kato, Ichiro.

    1993 International Conference on Intelligent Robots and Systems. ed. / Anon. Piscataway, NJ, United States : Publ by IEEE, 1993. p. 1771-1777.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Li, Q, Takanishi, A & Kato, I 1993, Learning control for the biped walking robot with a trunk. in Anon (ed.), 1993 International Conference on Intelligent Robots and Systems. Publ by IEEE, Piscataway, NJ, United States, pp. 1771-1777, Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Jpn, 93/7/26.
    Li Q, Takanishi A, Kato I. Learning control for the biped walking robot with a trunk. In Anon, editor, 1993 International Conference on Intelligent Robots and Systems. Piscataway, NJ, United States: Publ by IEEE. 1993. p. 1771-1777
    Li, Qinghua ; Takanishi, Atsuo ; Kato, Ichiro. / Learning control for the biped walking robot with a trunk. 1993 International Conference on Intelligent Robots and Systems. editor / Anon. Piscataway, NJ, United States : Publ by IEEE, 1993. pp. 1771-1777
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