<abstract xmlns="http://www.w3.org/1999/xhtml"><p>In this paper, researches and advances in biped locomotion are reviewed. A detailed survey is presented describing the various research problems and the approaches reported in the literature to analyze and control biped locomotion. A method of Zero-Moment-Point (ZMP) compensation is discussed to improve the stability of locomotion of a biped which is subjected to disturbances. A compensating torque, computed from the force sensor reading, is injected into the ankle-joint of the foot of the robot to improve stability. The effectiveness of the method is demonstrated on a humanoid robot, MaNUS-I, to reject disturbances of various form.</p></abstract>

In this paper, researches and advances in biped locomotion are reviewed. A detailed survey is presented describing the various research problems and the approaches reported in the literature to analyze and control biped locomotion. A method of Zero-Moment-Point (ZMP) compensation is discussed to improve the stability of locomotion of a biped which is subjected to disturbances. A compensating torque, computed from the force sensor reading, is injected into the ankle-joint of the foot of the robot to improve stability. The effectiveness of the method is demonstrated on a humanoid robot, MaNUS-I, to reject disturbances of various form.

Biped Locomotion: Stability, Analysis and Control

International Journal on Smart Sensing and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Biped Locomotion: Stability, Analysis and Control"}

In this paper, researches and advances in biped locomotion are reviewed. A detailed survey is presented describing the various research problems and the...

Biped Locomotion: Stability, Analysis and Control

Online veröffentlicht: 13. Dez. 2017

Seitenbereich: 187 - 207

DOI: https://doi.org/10.21307/ijssis-2017-286

Schlüsselwörter
Zero-Moment-Point, Foot-Rotation-Indicator, Periodicity in Biped Locomotion, online ZMP compensation

© 2008 Prahlad Vadakkepat et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Biped Locomotion: Stability, Analysis and Control

Online veröffentlicht: 13. Dez. 2017

Seitenbereich: 187 - 207

DOI: https://doi.org/10.21307/ijssis-2017-286

SchlüsselwörterZero-Moment-Point, Foot-Rotation-Indicator, Periodicity in Biped Locomotion, online ZMP compensation

© 2008 Prahlad Vadakkepat et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Schlüsselwörter
Zero-Moment-Point, Foot-Rotation-Indicator, Periodicity in Biped Locomotion, online ZMP compensation