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Control of Bipedal Walking Robot through Direct Regulation of the Zero Moment Point

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2 Author(s)
Yazdekhasti, S. ; Najaf Abad Branch, Islamic Azad Univ., Esfahan, Iran ; Shahgholian, G.

By controlling the zero moment point (ZMP) The unexpected rotation of the supporting foot can be avoided. This paper analyze a control strategy for simultaneously regulating the position of the ZMP and the joints of the robot, the proposed controller is based on a path-following control strategy. The objective of the control law is not to track a (time based), but only the associated path in joint space.

Published in:

Computer and Electrical Engineering, 2009. ICCEE '09. Second International Conference on  (Volume:1 )

Date of Conference:

28-30 Dec. 2009