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

Qinghua Li*, A. Takanishi, I. Kato

*この研究の対応する著者

研究成果

52 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
ホスト出版物のサブタイトルSensor-Based Robotics and Opportunties for its Industrial Applications
出版社Institute of Electrical and Electronics Engineers Inc.
ページ597-603
ページ数7
ISBN(電子版)0780307372
DOI
出版ステータスPublished - 1992
イベント1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States
継続期間: 1992 7 71992 7 10

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
1
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Conference

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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