제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

ZMP Compensation Algorithm for Stable Posture of a Humanoid Robot

  • Hwang, Byung-Hun (School of Electrical Engineering, Inha University) ;
  • Kong, Jung-Shik (Department of Automation Engineering, Inha University) ;
  • Lee, Bo-Hee (Department of Electrical Engineering, Semyung University) ;
  • Kim, Jin-Geol (School of Electrical Engineering, Inha University) ;
  • Huh, Uk-Youl (School of Electrical Engineering, Inha University)
  • Published : 2005.06.02
Download PDF
⟨ Previous Next ⟩

Abstract

The desired ZMP is different from the actual ZMP of a humanoid robot during actual walking and stand upright. A humanoid robot must maintain its stable posture although external force is given to the robot. A humanoid robot can know its stability with ZMP. Actual ZMP may be moved out of the foot-print polygons by external disturbance or uneven ground surfaces. If the position of ZMP moves out of stable region, the stability can not be guaranteed. Therefore, The control of the ZMP is necessary. In this paper, ZMP control algorithm is proposed. Herein, the ZMP control uses difference between desired ZMP and actual ZMP. The proposed algorithm gives reaction moment with ankle joint when external force is supplied. 3D simulator shows motion of a humanoid robot and calculated data.

Keywords