Static ZMP-based CoM Control Scheme for Balancing a Robot with Modeling Error

Title
Static ZMP-based CoM Control Scheme for Balancing a Robot with Modeling Error
Authors
서은호김도익송재복
Keywords
모델링 오차; 균형 제어; Zero Moment Point (ZMP); Balancing Control; Humanoid Robot
Issue Date
2010-05
Publisher
ICROS 2010 (제어 로봇 시스템 학회)
Citation
, 45-47
Abstract
In most cases, a robot has a modeling error and thus the calculated Center of Mass (CoM) is not equal to the real CoM. This modeling error gives mismatch of real Zero Moment Point (ZMP) and desired ZMP in static status, when we control CoM. In order to reduce the mismatch, the static ZMP is used as a measured CoM, and CoM is controlled with this static ZMP-based CoM controller. Then the ZMP error is reduced and thus the stability is increased. The result is shown by simulation of the Inverted Pendulum Model.
URI
http://pubs.kist.re.kr/handle/201004/37651
Appears in Collections:
KIST Publication > Conference Paper
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