LOCOMOTION
ZMP trajectory reference for the sagittal plane control of a biped robot based on a human CoP and gait
Manuel Crisóstomo, A. Paulo Coimbra, João P. Ferreira
- Year
- 2009
- Citations
- 12
Abstract
This paper introduces two new important issues to be considered in the design of the zero moment point (ZMP) trajectory reference for the sagittal plane balance control of an autonomous walking biped robot with an human-like gait.
Keywords
Zero moment pointSagittal planeTrajectoryGaitControl theory (sociology)Balance (ability)RobotComputer scienceMoment (physics)Biped robot
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