ZMP-based biped running pattern generation with contact transition of foot

Hyeonsik Shin, Jong Hyeon Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

This paper proposes a method of running pattern generation for biped robot. Prescribed ZMP(Zero Moment Point) pattern is used to generate CoM(Center of Mass) motion. The ZMP pattern is generated by moving-Spring-Loaded Inverted Pendulum (SLIP) model. To reduce the ground impact, transitional motion of the landing foot is proposed. And the motion of foot is determined by using difference of ZMP and projected position of CoM. The trajectory of CoM is proposed to allow an M-shaped ground reaction force as in human's foot in running and walking. The effectiveness and the performance of the proposed control algorithms are shown in computer simulations with a 7-DOF biped robot.

Original languageEnglish
Title of host publicationProceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Pages916-921
Number of pages6
DOIs
StatePublished - 2008 Sep 30
Event2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 - Xi'an, China
Duration: 2008 Aug 22008 Aug 5

Other

Other2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
CountryChina
CityXi'an
Period08/08/208/08/5

Keywords

  • Biped robot
  • Pattern generation
  • Running
  • ZMP

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  • Cite this

    Shin, H., & Park, J. H. (2008). ZMP-based biped running pattern generation with contact transition of foot. In Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 (pp. 916-921). [4601783] https://doi.org/10.1109/AIM.2008.4601783