Zero-Moment Point on a bipedal robot under bio-inspired walking control

Humanoid robots are currently still far from reaching the impressive human walking capabilities. Among the different methods used to design walking controllers, those based on the Zero-Moment Point (ZMP) criterion are among the most popular, even if they induce intrinsic limitations in terms of energy consumption and robustness. In parallel, bio-inspired controllers are emerging. They overcome the ZMP-based limitations, but still miss robust stabilization rules to be validated on real robots. This contribution studies how to efficiently compute the ZMP in realtime on a robot walking with bio-inspired control rules, in order to detect when the robot stability is compromised.


Published in:
MELECON 2014 - 2014 17th IEEE Mediterranean Electrotechnical Conference, 85-90
Presented at:
MELECON 2014 - 2014 17th IEEE Mediterranean Electrotechnical Conference, Beirut, Lebanon, 13-16 04 2014
Year:
2014
Publisher:
IEEE
Laboratories:




 Record created 2016-01-23, last modified 2018-03-17


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