首页>
外国专利>
Apparatus and method for balancing and damping control in whole body coordination framework for biped humanoid robot
Apparatus and method for balancing and damping control in whole body coordination framework for biped humanoid robot
展开▼
机译:两足类人机器人全身协调框架中的平衡与阻尼控制装置及方法
展开▼
页面导航
摘要
著录项
相似文献
摘要
Apparatus and a method for balancing and damping control in whole body coordination framework for a biped humanoid robot. The method comprises the steps of: (a) damping the structural vibration of the main body of the robot caused when the robot walks; (b) compensating for the trajectories of the zero moment position (ZMP) and the center of mass (COM) of the robot which changes in accordance with the damping of the structural vibration; and (c) compensating for the body orientation of the robot which changes in accordance with the damping of the structural vibration and the trajectory of the COM.
展开▼