Abstract
This paper analyzed about the stabilization of humanoid robot in discrete trajectory planning. Taking 17 freedom humanoid robot as a model, and according to the particularity of COP (center of pressure) overlapping with ZMP(zero moment point)in the dynamical balance state, the running speed of robot joints can be adjusted according to the feedback of COP, and the robot can evade the unstable trajectory with this approach. The control method was analyzed and the experiment on MechG was done which demonstrates it is feasible.
| Original language | English |
|---|---|
| Pages (from-to) | 1263-1266 |
| Number of pages | 4 |
| Journal | Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University |
| Volume | 41 |
| Issue number | 8 |
| State | Published - Aug 2007 |
Keywords
- Center of pressure
- Discrete trajectory planning
- Evade
- Humanoid robot
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