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Adaptive gait algorithm for IWR biped robot

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2 Author(s)
Sun-Ho Lim ; Dept. of Ind. Autom., Inha Univ., Inchon, South Korea ; Jin-Geol Kim

This paper is concerned with the ZMP (zero moment point) control algorithm for the IWR biped walking robot, which is under development in Korea. The authors introduce a ZMP control method of dynamic biped walking with a special trunk mechanism. The trunk is for balancing during walking, which requires a small balancing space in motion. Walking simulations with the IWR model are shown using the proposed ZMP control method. As a result, the various gaits generation for adapting to the different environments and system stabilization with complex trajectories of swing-leg and support-leg are presented

Published in:

Power Electronics and Drive Systems, 1995., Proceedings of 1995 International Conference on

Date of Conference:

21-24 Feb 1995