A 'zmp' management scheme suitable for trajectory controlled biped robots to achieve dynamic walking

摘要

Biped research has become an important area of robotics during the past two decades.Two schools of thought prevail in the area of two legged machines, one being trajectory control of joint angles and the other being the force control of joints. The former method has been successfully demonstrated by many researchers. In the process of dynamic control, the robot does not fall even though the centre of mass (COM) of the robot may be outside the perimeter of support for a certain duration. This led to the concept of zero moment point (ZOM), which can be more or less described as the projection of 'dynamic centre of mass' (DCOM) on the ground. There has been a great deal of attention to the methods of calculating, measuring, and controlling this point. In this paper basic premises of the ZMP movement, while the robot is walking dynamically is being examined and a modified concept suitable for implementation in trajectory controlled robots is presented.