ICRA 2011 Paper Abstract


Paper TuA1-InteracInterac.19

Xu, Wei (Beijing Institute of Technology), Huang, Qiang (Beijing Institute of Technology), Li, Jing (Beijing Insititute of Technology), YU, Zhangguo (Beijing Institute of Technology), CHEN, XUECHAO (Beijing Insititute of Technology), Xu, Qian (Beijing Institute of Technology)

An Improved ZMP Trajectory Design for the Biped Robot BHR

Scheduled for presentation during the Poster Sessions "Interactive Session I: Robotic Technology" (TuA1-InteracInterac), Tuesday, May 10, 2011, 08:20−09:35, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 29, 2020

Keywords Humanoid Robots, Humanoid and Bipedal Locomotion, Motion and Path Planning


An improved ZMP (Zero Moment Point) trajectory for a biped robot is designed in this paper, which imitates a humanís actual ZMP trajectory in the walking process. A new method of walking pattern generation based on forward moving ZMP in SSP (Single Support Phase) is also provided. It can keep the ZMP moving forward instead of staying in the center of supporting region during SSP, which is helpful for increasing the walking speeding. We have been developing BHR, which has 38 DOFs (degree of freedom). The effectiveness of the method is conducted by simulation and walking experiment on BHR.



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