Open document
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General information |
| Author |
Alcaraz-Jiménez, Juan José; Herrero-Pérez, David; Martínez-Barberá, Humberto |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
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. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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