Design of Biped Walking Gait on Biped Robot

被引：0

作者：

Anh Nguyen Van Tien ^{[1
,2
]}

Hoai Quoc Le ^{[3
]}

Thien Phuc Tran

Tan Tien Nguyen

机构：

[1] Hochiminh City Univ Technol, HiTech Mechatron Lab, Ho Chi Minh City, Vietnam

[2] Saigon HiTech Pk, Hochiminh City, Vietnam

[3] Hochiminh City Univ Technol, Fac Mech Engn, Ho Chi Minh City, Vietnam

来源：

2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2017年

关键词：

ZMP; UXA-90; robot; walking gait;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The purpose of this paper is design a stable walking gait for robot UXA-90. We applied Zero Moment Point (ZMP) based preview control to generate Center of Mass (CoM) trajectory. The ankle trajectories were created by spline interpolation method. Experiment results show that our method can make robot walking stable.

引用

页码：303 / 306

页数：4

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