제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Characteristics of the ZMP for the biped robot

  • Park, Chan-Soo (Department of Electrical Engineering, Seoul National University) ;
  • Choi, Chong-Ho (Department of Electrical Engineering, Seoul National University)
  • Published : 2003.10.22
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Abstract

This is a preliminary study is to make the robot walk more stably by observing the ZMP (Zero Moment Point) of the robot when the robot stands on one leg(single support) and then on two legs(double support) and so on. The robot consists of nine DOF (Degree of freedom) with lower part of the body. It is equipped with motor drivers and force sensors inside the robot. The motors are controlled by the external PC (Intel pentium 4). By the experimental results, it is found that the robot is unstable in the instant of changing from single support to double support or from double support to single support. We use the trajectory compensation of the angle and the length of both legs to realize more stable walking.

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