Research on ZMP theory Applied to the Gait Control of Biped Walking Robot

摘要

The special relationship between the ZMP point and the barycenter is used to construct barycenter model to checkout the action data of the robot in the problem of gait control of biped walking robot.Meanwhile,the action of robot is divided into some action element,namely the action database. More complex actions can be constructed based on the database.This control method is proved feasible through constructing complex action such as stepping.