Journal
ROBOTICA
Volume 18, Issue -, Pages 651-657Publisher
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574700002708
Keywords
walking robots; Zero Moment Point; control law; actuating signal
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In this paper, a new application of the ZMP (Zero Moment Point) control law is presented. The objective of this control method is to obtain a smooth and soft motion based on a real-time control. In the controller, the ZMP is treated as an actuating signal. The coordinates of the robot body are fed back to obtain its position. The proposed control method was applied on two different biped robots, and its validity is verified experimentally.
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