Walking strategy model based on zero moment point with single inverted pendulum approach in “T-FLoW” humanoid robot

摘要

Zero moment point (ZMP) is a mathematical formulation to find a point that causes equilibrium of action and reaction momentum (momentum equal to zero). ZMP can be approached using Single Linear Inverted Pendulum Model (SLIPM). In this paper will explain the modeling of walking trajectory based on the mathematical formulation in SLIPM on the “T-FLoW” humanoid robot. In the SLIPM mathematical equation has 2 main components which are position vector of Center of Mass (CoM) and Acceleration (Linear) of CoM. From these two main compositions, there will be two types of walking trajectory models to be used and implemented in the “T-FLoW” humanoid robot. The first walking locomotion analysis is walking trajectory model the position vector of CoM is dominant. The second walking locomotion analysis is walking trajectory model when the acceleration in CoM is dominant. The results of these two walking trajectory models are for modeling and establishing a control system for robot stability based on dynamic characteristic on both walking trajectory models in the next research.