A Simple Feedback Controller to Reduce Angular Momentum in ZMP-Based Gaits

International Journal of Advanced Robotic Systems

关键词: Bipedal Walking;    Balance and Stability Control;    Angular Momentum;   

DOI  :  10.5772/52448

学科分类：自动化工程

来源: InTech

【 摘 要 】

The Zero Moment Point (ZMP) stability criterion has been broadly employed for walking pattern generation in legged robots. However, ZMP-based approaches usually ignore the presence of angular momentum in the system. This hinders the performance of the gait, especially against disturbances. In this work we propose an angular momentum controller that can be integrated into standard ZMP-based gaits. The experiments on a real Nao robot demonstrate that the use of the proposed angular momentum controller improves the stability of a walking pattern generator based on the preview control of the ZMP.

【 授权许可】

CC BY