LOCOMOTION
The Stability of Biped Walking Robot Parallel Leg Mechanism
GU Hui-ru
- Year
- 2004
- Citations
- 3
Abstract
ZMP point is put forward to evaluate the stability of legged robot , and the relation that steady walking and steady area is given . When the end-effector's track known , the center of gravity'track can be calculated in the ideal circumstance . In order to control the biped robot, the robot 'steady area is given .
Keywords
Control theory (sociology)RobotBiped robotCenter of gravityMechanism (biology)Stability (learning theory)Track (disk drive)Computer scienceSimulationControl (management)
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