NDLI: A sliding walk method for humanoid robots using ZMP feedback control

Content Provider	IEEE Xplore Digital Library
Author	Tsuichihara, S. Koeda, M. Sugiyama, S. Yoshikawa, T.
Copyright Year	2011
Description	Author affiliation: Department of Computer Science, Osaka Electro-Communication University, Kiyotaki 1130-70 Shijyonawate, Osaka, 575-0063, Japan (Koeda, M.) \|\| College of Information Science and Engineering Ritsumeikan University, 1-1-1, Nojihigashi, Kusatsu, Shiga 525-8577, Japan (Tsuichihara, S.; Sugiyama, S.; Yoshikawa, T.)
Abstract	In this paper, we propose two methods for a highly stable sliding walk for humanoid robots working in narrow areas under constrained postures. The first method uses a new displacement of the center of gravity with Zero Moment Point (ZMP) feedback control. ZMP is a force distribution on the soles of the feet. This method is faster and more stable than previous techniques. The second method utilizes sliding forward movements using the inverse kinematics of the leg mechanism, which are calculated from the positions variation of the sole. The sliding walk is experimentally demonstrated using the humanoid robot HOAP-2, and an evaluation of the lateral variations in ZMP and the lateral acceleration variations are shown.
Starting Page	275
Ending Page	280
File Size	658586
Page Count	6
File Format	PDF
ISBN	9781457721366
e-ISBN	9781457721380
DOI	10.1109/ROBIO.2011.6181298
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-07
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Foot Humanoid robots Gravity Sensors Hip
Content Type	Text
Resource Type	Article

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