Learning control of compensative trunk motion for biped walking robot based on zmp stability criterion

Qinghua Li, A. Takanishi, I. Kato

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

52 Citations (Scopus)

Abstract

The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot that has a trunk. In this paper, the authors propose a learning control algorithm of the compensative trunk motion that makes the actual ZMP get closer to the desired ZMP. The convergency of the algorithm is confirmed by computer simulation and learning experiments with the biped robot. The change of the convergence rate with the change of the weight coefficient multiplied to the errors between the measured ZMP and the desired ZMP is confirmed by the simulation and the experiments. And also the reasons are discussed.

Original languageEnglish
Title of host publicationIROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationSensor-Based Robotics and Opportunties for its Industrial Applications
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages597-603
Number of pages7
ISBN (Electronic)0780307372
DOIs
Publication statusPublished - 1992 Jan 1
Event1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States
Duration: 1992 Jul 71992 Jul 10

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume1
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
CountryUnited States
CityRaleigh
Period92/7/792/7/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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    Li, Q., Takanishi, A., & Kato, I. (1992). Learning control of compensative trunk motion for biped walking robot based on zmp stability criterion. In IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications (pp. 597-603). [587398] (IEEE International Conference on Intelligent Robots and Systems; Vol. 1). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.1992.587398