| Title: | OS7-4 Method of Finding of Android Program Motion for the ZMP Trajectory of a Certain Type |
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| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 395-398 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.OS7-4 |
| Author(s): | Alexander Gorobtsov, Pavel Tarasov, Andrey Skorikov, Alexey Markov, Andrey Andreev |
| Publication Date: | February 2, 2018 |
| Keywords: | biped robot, ZMP trajectory, programmed motion, MBS modeling |
| Abstract: | We consider the problem of finding of the programmed motion of biped robot with a given ZMP trajectory. It is assumed that it provides a stable ZMP trajectory of the robot motion. The equations of the robot motion consist of the equations of the robot dynamics itself and the stability conditions equations, which include the coordinates of the ZMP trajectory. It is proposed to seek the solution of stability equations on a limited set of some concerted movements of the robot. Several types of such coordinated movements are considered. The application of this method for the android with a mass of 60 kg and height of 160 cm is described. The parallel algorithms of the computational aspect of the method is presented. |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS7/OS7-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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