ZMP 概念と倒立振子を用いた2 足ロボットの安定歩行

摘要

In this paper, walking principle of a biped robot is clarified with ZMP (Zero-Moment Point) concept,friction constraint, and inverted pendulum model. First, the stable walking condition of a biped robot is derivedfrom ZMP concept, frictional constraint, and with inverted pendulum model. Second, the motion of the robot isanalyzed and the fact that the biped walking is in nature a continually acceleration and deceleration motion isobtained. Meanwhile, the method of adjusting walking speed is proposed. Further, the desired ZMP trajectory isgiven out, and the limitation factors of determining the biped walking is presented. The approach used in thispaper is expected to extend to analyze the motion of running robot and jump robot.