NDLI: Stability maintenance of a humanoid robot under disturbance with fictitious zero-moment point (FZMP)

Content Provider	IEEE Xplore Digital Library
Author	Chenbo Yin Albers, A. Ottnad, J. Haussler, P.
Copyright Year	2005
Description	Author affiliation: Sch. of Mech. & Power Eng., Nanjing Univ. of Technol., China (Chenbo Yin)
Abstract	The goal of the project SFB588 supported by the Deutsche Forschungs-gemeinschaft (DFG) is to generate concepts, methods and a concrete prototype of a humanoid robot. The intended application area is, for instance, a generic kitchen, where the robot is planed to perform actions autonomously at the user's request. In this paper, a model of stable analysis of a humanoid robot is given, in which the different environments are considered. By introducing a concept of fictitious zero-moment (FZMP), a method to maintain the whole body stability of robot under disturbance is presented. The support polygon and the rotation edge in the case of losing balance are determined by means of simulation. In order to maintain stability in different environments a new control strategy is presented including the adjustment of the support polygon, the push or pull support of hand with environment, the movement of upper robot body. The relative position between FZMP and support polygon is specially emphasized. The feasibility of the proposed method is demonstrated through the simulation.
Starting Page	3149
Ending Page	3156
File Size	1927748
Page Count	8
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545236
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humanoid robots Legged locomotion Foot Stability criteria Biological system modeling Power engineering Product development Power generation Concrete Prototypes Optimization Humanoid Robot Stability Maintenance Gait Planning ZMP
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Walking Stability of a Humanoid Robot Based on Fictitious Zero-Moment Point

Gait planning in 3D robot simulation using ZMP theory

Natural ZMP Trajectories for Biped Robot Reference Generation

Gait control of humanoid robots via fuzzy logic and iterative optimization

The dynamic stability criterion of the wheel-based humanoid robot based on ZMP modeling

Control of humanoid robot walking by Fuzzy Sarsa Learning

Online ZMP sampling search for biped walking planning

Generation of optimal trajectory for biped robots with knees stretched

Energy-Efficient Gait Planning and Control for Biped Robots Utilizing the Allowable ZMP Region

Stability maintenance of a humanoid robot under disturbance with fictitious zero-moment point (FZMP)

Similar Documents

Walking Stability of a Humanoid Robot Based on Fictitious Zero-Moment Point

Gait planning in 3D robot simulation using ZMP theory

Natural ZMP Trajectories for Biped Robot Reference Generation

Gait control of humanoid robots via fuzzy logic and iterative optimization

The dynamic stability criterion of the wheel-based humanoid robot based on ZMP modeling

Control of humanoid robot walking by Fuzzy Sarsa Learning

Online ZMP sampling search for biped walking planning

Generation of optimal trajectory for biped robots with knees stretched

Energy-Efficient Gait Planning and Control for Biped Robots Utilizing the Allowable ZMP Region

Stability maintenance of a humanoid robot under disturbance with fictitious zero-moment point (FZMP)