| Autor: |
Juan José Alcaraz-Jiménez, David Herrero-Pérez, Humberto Martínez-Barberá |
| Jazyk: |
angličtina |
| Rok vydání: |
2013 |
| Předmět: |
|
| Zdroj: |
International Journal of Advanced Robotic Systems, Vol 10 (2013) |
| Druh dokumentu: |
article |
| ISSN: |
1729-8814 |
| DOI: |
10.5772/52448 |
| Popis: |
The Zero Moment Point (ZMP) stability criterion has been broadly employed for walking pattern generation in legged robots. However, ZMP-based approaches usually ignore the presence of angular momentum in the system. This hinders the performance of the gait, especially against disturbances. In this work we propose an angular momentum controller that can be integrated into standard ZMP-based gaits. The experiments on a real Nao robot demonstrate that the use of the proposed angular momentum controller improves the stability of a walking pattern generator based on the preview control of the ZMP. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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