Balancing Control of a Humanoid Robot in the Presence of Unknown External Forces

Title
Balancing Control of a Humanoid Robot in the Presence of Unknown External Forces
Authors
서은호김도익송재복
Keywords
Zero Moment Point(ZMP); Balancing Control; Humanoid robot
Issue Date
2010-11
Publisher
Ubiquitous Robots and Ambient Intelignece (URAI 2010)
Citation
, 19-22
Abstract
When a humanoid robot carries an object or is applied by unknown external forces, the reference point of the Center of Mass (CoM) and Zero Moment Point (ZMP) will be changed in order to keep balanced. In this paper, we propose the method for keeping the statical balance with or without unknown external forces. And the CoM is modified for positioning the real ZMP to the desired ZMP. The proposed method is verified by experiments.
URI
http://pubs.kist.re.kr/handle/201004/38916
Appears in Collections:
KIST Publication > Conference Paper
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