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
PublisherPubl by IEEE
Pages1771-1777
Number of pages7
ISBN (Print)0780308239
Publication statusPublished - 1993 Dec 1
EventProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
Duration: 1993 Jul 261993 Jul 30

Publication series

Name1993 International Conference on Intelligent Robots and Systems

Other

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

ASJC Scopus subject areas

  • Engineering(all)

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  • 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). (1993 International Conference on Intelligent Robots and Systems). Publ by IEEE.