Log in

Relevant bibliographies by topics / Zero-Moment Point (ZMP) / Journal articles

To see the other types of publications on this topic, follow the link: Zero-Moment Point (ZMP).

Journal articles on the topic 'Zero-Moment Point (ZMP)'

Author: Grafiati

Published: 3 June 2025

Last updated: 31 July 2025

Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles

Select a source type:

Consult the top 50 journal articles for your research on the topic 'Zero-Moment Point (ZMP).'

Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.

You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.

Browse journal articles on a wide variety of disciplines and organise your bibliography correctly.

1

VUKOBRATOVIĆ, MIOMIR, and BRANISLAV BOROVAC. "ZERO-MOMENT POINT — THIRTY FIVE YEARS OF ITS LIFE." International Journal of Humanoid Robotics 01, no. 01 (2004): 157–73. http://dx.doi.org/10.1142/s0219843604000083.

Full text

Abstract:

This paper is devoted to the permanence of the concept of Zero-Moment Point, widely-known by the acronym ZMP. Thirty-five years have elapsed since its implicit presentation (actually before being named ZMP) to the scientific community and thirty-three years since it was explicitly introduced and clearly elaborated, initially in the leading journals published in English. Its first practical demonstration took place in Japan in 1984, at Waseda University, Laboratory of Ichiro Kato, in the first dynamically balanced robot WL-10RD of the robotic family WABOT. The paper gives an in-depth discussion

APA, Harvard, Vancouver, ISO, and other styles

2

Brecelj, Tilen, and Tadej Petrič. "Zero Moment Line—Universal Stability Parameter for Multi-Contact Systems in Three Dimensions." Sensors 22, no. 15 (2022): 5656. http://dx.doi.org/10.3390/s22155656.

Full text

Abstract:

The widely used stability parameter, the zero moment point (ZMP), which is usually defined on the ground, is redefined, in this paper, in two different ways to acquire a more general form that allows its application to systems that are not supported only on the ground, and therefore, their support polygon does not extend only on the floor. This way it allows to determine the stability of humanoid and other floating-based robots that are interacting with the environment at arbitrary heights. In the first redefinition, the ZMP is represented as a line containing all possible ZMPs, called the zer

APA, Harvard, Vancouver, ISO, and other styles

3

Mitobe, K., G. Capi, and Y. Nasu. "Control of walking robots based on manipulation of the zero moment point." Robotica 18, no. 6 (2000): 651–57. http://dx.doi.org/10.1017/s0263574700002708.

Full text

Abstract:

In this paper, a new application of the ZMP (Zero Moment Point) control law is presented. The objective of this control method is to obtain a smooth and soft motion based on a real-time control. In the controller, the ZMP is treated as an actuating signal. The coordinates of the robot body are fed back to obtain its position. The proposed control method was applied on two different biped robots, and its validity is verified experimentally.

APA, Harvard, Vancouver, ISO, and other styles

4

Hong. "Capture Point-Based Controller Using Real-Time Zero Moment Point Manipulation for Stable Bipedal Walking in Human Environment." Sensors 19, no. 15 (2019): 3407. http://dx.doi.org/10.3390/s19153407.

Full text

Abstract:

For collaboration of humans and bipedal robots in human environments, this paper proposes a stability control method for dynamically modifiable bipedal walking using a capture point (CP) tracking controller. A reasonable reference CP trajectory for the CP tracking control is generated using the real-time zero moment point (ZMP) manipulation without information on future footstep commands. This trajectory can be modified at any time during the single support phase according to a given footstep command. Accordingly, this makes it possible for the robot to walk stably with dynamically modifiable

APA, Harvard, Vancouver, ISO, and other styles

5

Zhou, Qinghui, Yaofei Liu, Yidong Xie, and Xiwang Zhang. "ANALYSIS ON ANTI-OVERTURNING STABILITY OF A TRUCK CRANE BASED ON ZERO MOMENT POINT THEORY." DYNA DYNA-ACELERADO (March 18, 2022): [ 7 pp.]. http://dx.doi.org/10.6036/10484.

Full text

Abstract:

Truck crane stability has been a hot research issue. It is a conventional method used to calculate the moments equilibrium when analyzing stability. However, errors can occur because of the lack of dynamic simulation in conventional methods. Hence, to minimize errors, this study utilized the zero moment point (ZMP) theory to calculate the maximum lifting capacity of the truck crane considering the dynamic load, and proposed an anti-overturning detection method based on the theory. First, the model of the truck crane was established and the solution formula of ZMP was obtained. From the Lagrang

APA, Harvard, Vancouver, ISO, and other styles

6

Al-Shuka, Hayder F. N., B. Corves, Wen-Hong Zhu, and B. Vanderborght. "Multi-level control of zero-moment point-based humanoid biped robots: a review." Robotica 34, no. 11 (2015): 2440–66. http://dx.doi.org/10.1017/s0263574715000107.

Full text

Abstract:

SUMMARYResearchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centred environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decad

APA, Harvard, Vancouver, ISO, and other styles

7

Shin, Hyeok-Ki, and Byung-Kook Kim. "Energy-Efficient Reference Walking Trajectory Generation Using Allowable ZMP (Zero Moment Point) Region for Biped Robots." Journal of Institute of Control, Robotics and Systems 17, no. 10 (2011): 1029–36. http://dx.doi.org/10.5302/j.icros.2011.17.10.1029.

Full text

APA, Harvard, Vancouver, ISO, and other styles

8

Farzadpour, Farsam, and Mohammad Danesh. "GA Based Trajectory Generation for a 7-DOF Biped Robot by Considering Feet Rotation during Double Support Phase." Advanced Materials Research 463-464 (February 2012): 1252–55. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.1252.

Full text

Abstract:

This paper presents a trajectory generation approach for a 7-DOF biped robot on level ground. Simultaneously rotation of feet in double support phase is considered which leads to high-speed and more similar to human being walking. The zero moment point (ZMP) stability criterion is used to ensure the stability of the bipedal walking robot. Since ZMP trajectory in human walking does not stay fixed, it needs to be a straight line shaped forward ZMP trajectory to have a natural walk. A genetic algorithm based method is proposed to obtain key parameters in trajectory generation such that the ZMP fo

APA, Harvard, Vancouver, ISO, and other styles

9

Motoi, Naoki, Kenta Sasahara, and Atsuo Kawamura. "Switching Control Method for Stable Landing by Legged Robot Based on Zero Moment Point." Journal of Robotics and Mechatronics 25, no. 5 (2013): 831–39. http://dx.doi.org/10.20965/jrm.2013.p0831.

Full text

Abstract:

This paper proposes a switching control method to achieve a smooth transition from an edge landing to a sole landing for a legged robot. When a biped robot walks, an undesirable condition at the moment of landing, such as hunting between the ground and the foot, may occur for several reasons. To avoid this condition, this paper focuses on a method that uses simple controllers to ensure a smooth transition from an edge landing to a sole landing. In the event of an edge landing, a force controller should be implemented for a smooth transition to a sole landing. This is because the force controll

APA, Harvard, Vancouver, ISO, and other styles

10

Wang, Hai-yan, and Yi-bin Li. "Realization of a Biped Robot Lower Limb Walking without Double Support Phase on Uneven Terrain." Journal of Control Science and Engineering 2013 (2013): 1–8. http://dx.doi.org/10.1155/2013/429458.

Full text

Abstract:

Zero moment point (ZMP) is widely used in dynamical walking control of the biped robot, but it is hard to obtain the ZMP exactly. The paper describes a simple walking control method without using ZMP information directly. Firstly, the paper introduced a biped robot lower-limb prototype which is driven by linear hydraulic servocylinder. Then the paper simplifies the walking control in the lateral plane with a simple walking pattern generation method named “dynamic equilibrium method,” which is fit for active and underactuated biped robots. In the following section the paper provides the balance

APA, Harvard, Vancouver, ISO, and other styles

11

Komura, M., H. Osumi, S. Kamiya, T. Arai, and K. Umeda. "Measurement of the Zero Moment Point for walking robot using stereo cameras." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2004 (2004): 63. http://dx.doi.org/10.1299/jsmermd.2004.63_1.

Full text

APA, Harvard, Vancouver, ISO, and other styles

12

Dobra, Andreea. "Comparative Analysis of ZMP for Biped Robot and Human Plantar Pressure." Advanced Materials Research 463-464 (February 2012): 1210–14. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.1210.

Full text

Abstract:

The paper presents comparative analysis of human plantar pressure variations and Zero Moment Point (ZMP) of bipedal mobile robots. Based on information obtained, this type of analysis may lead to results immediately applicable in the field of mobile bipedal robots. Application is create in Visual Basic environment and the results are stored in a database – MS Access.

APA, Harvard, Vancouver, ISO, and other styles

13

Li, Xiang, Hiroki Imanishi, Mamoru Minami, Takayuki Matsuno, and Akira Yanou. "Dynamical Model of Walking Transition Considering Nonlinear Friction with Floor." Journal of Advanced Computational Intelligence and Intelligent Informatics 20, no. 6 (2016): 974–82. http://dx.doi.org/10.20965/jaciii.2016.p0974.

Full text

Abstract:

Biped locomotion created by a controller based on Zero-Moment Point (ZMP) known as reliable control method looks different from human’s walking on the view point that ZMP-based walking does not include falling state, and it’s like monkey walking because of knee-bended walking profiles. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, keeping the event-driven walking of dynamical motion stable is important issue for realization of human-like natural walking. In this research, a walking model of humanoid robot including slipping, bumping, surface-con

APA, Harvard, Vancouver, ISO, and other styles

14

Park, Ill Woo, Baek Kyu Cho, and Jung Yup Kim. "A Real-Time Center of Gravity Trajectory Generation of a Biped Humanoid under Variable Reference ZMP Trajectory." Applied Mechanics and Materials 284-287 (January 2013): 1734–38. http://dx.doi.org/10.4028/www.scientific.net/amm.284-287.1734.

Full text

Abstract:

This paper describes a method for generating a center of gravity trajectory of a biped humanoid robot under variable reference ZMP trajectory. A simple inverted pendulum model (SIPM) is used to calculate a center of gravity (CoG) trajectory from a reference zero moment point (ZMP) trajectory with an analytic form, which is based on the Fourier series. Fundamentally, we used a time segmentation based approach. For each segment, we defined its duration and boundary conditions, which are the key parameters of ZMP trajectory design. After designing the ZMP trajectory in each segment, we can automa

APA, Harvard, Vancouver, ISO, and other styles

15

Zhou, Xue Feng, Peng Huang, Gong Zhang, and Xian Shuai Chen. "Stability Analysis of Biped Walking." Advanced Materials Research 569 (September 2012): 420–27. http://dx.doi.org/10.4028/www.scientific.net/amr.569.420.

Full text

Abstract:

Tipping-over and slipping, which are related to zero moment point (ZMP) and frictional constraint respectively, are the most two common instability forms of biped robotic walking. Conventional criterion of stability is not sufficient in some cases, since it neglects frictional constraint or considers only translational friction. The goal of this article is to fully address frictional constraints in biped walking and develop corresponding stability criteria. Frictional constraints for biped locomotion are first analyzed and the method to obtain the closed-form solutions of the frictional force

APA, Harvard, Vancouver, ISO, and other styles

16

Lee, Ki Nam, and Young Jae Ryoo. "Walking Pattern Tuning System Based on ZMP for Humanoid Robot." International Journal of Humanoid Robotics 11, no. 04 (2014): 1442001. http://dx.doi.org/10.1142/s0219843614420018.

Full text

Abstract:

In this paper, an walking pattern tuning system based on (zero moment point) ZMP for a humanoid robot is proposed. Commonly, programming and languages used for developing a humanoid robot are highly sophisticated or complex. The proposed walking pattern tuning system is a program tool to finely tune the walking pattern based on ZMP by adjusting intuitive parameters that common user can understand easily. The walking pattern tuning system was applied to the humanoid robot of 1.1 meters tall and the humanoid robot with the tuned walking pattern was tested for its performance.

APA, Harvard, Vancouver, ISO, and other styles

17

Ding, Jiatao, Jiangchen Zhou, Zhao Guo, and Xiaohui Xiao. "Energy-Efficient Bipedal Walking: From Single-Mass Model to Three-Mass Model." Robotica 39, no. 9 (2021): 1537–59. http://dx.doi.org/10.1017/s0263574720001320.

Full text

Abstract:

SUMMARYThe work aims to realize energy-efficient bipedal walking by employing the three-mass inverted pendulum model (3MIPM) and compare its energy performance with linear inverted pendulum model (LIPM). To do this, a general optimal index on center of mass (CoM) acceleration is first derived for energetic cost evaluation. After defining the equivalent zero moment point (ZMP) motion, an unconstrained optimization approach for CoM generation is extended for 3MIPM, which can track different ZMP references and address the height variation as well. To make use of the allowable ZMP movement, a cons

APA, Harvard, Vancouver, ISO, and other styles

18

Prahlad, Vadakkepat, Goswami Dip, and Chia Meng-Hwee. "Disturbance rejection by online ZMP compensation." Robotica 26, no. 1 (2008): 9–17. http://dx.doi.org/10.1017/s0263574707003542.

Full text

Abstract:

SUMMARYA novel method of Zero-Moment-Point (ZMP) compensation is proposed to improve the stability of locomotion of a biped, which is subjected to disturbances. A compensating torque is injected into the ankle-joint of the foot of the robot to improve stability. The value of the compensating torque is computed from the reading of the force sensors located at the four corners of each foot. The effectiveness of the method is verified on a humanoid robot, MANUS-I. With the compensation technique, the robot successfully rejected disturbances in different forms. It carried an additional weight of 3

APA, Harvard, Vancouver, ISO, and other styles

19

Han, Sang Kuy, Jeong-Bae Ko, Yeonwoo Yu, et al. "A Comparison of Dynamic Gait Stability between the Young and Elderly Female Populations Using the Zero-Moment Point Method." Electronics 13, no. 1 (2023): 135. http://dx.doi.org/10.3390/electronics13010135.

Full text

Abstract:

A compromised stability in the elderly population is considered a major factor for fall risk assessment. The dynamic stability of human gait with various mathematical metrics has been extensively studied to find a prediction index and fall prevention strategies that can be embedded in a wearable monitoring sensor. In this study, the zero-moment point method (ZMP) was utilized for analyzing the gait stability of young and elderly female populations. Participants in the young and elderly female groups with no musculoskeletal disorders and fall experience were asked to walk at a habitual speed on

APA, Harvard, Vancouver, ISO, and other styles

20

FERREIRA, JOÃO P., MANUEL CRISÓSTOMO, and A. PAULO COIMBRA. "SVR CONTROLLER FOR A BIPED ROBOT IN THE SAGITTAL PLANE WITH HUMAN-BASED ZMP TRAJECTORY REFERENCE AND GAIT." International Journal of Humanoid Robotics 09, no. 03 (2012): 1250018. http://dx.doi.org/10.1142/s0219843612500181.

Full text

Abstract:

This paper introduces two new important issues to be considered in the design of the zero moment point (ZMP) trajectory of a biped robot. It was verified experimentally that in the human gait the ZMP trajectory moves along the foot in a way that it is shifted forward relative to its center. To take this into account a shift parameter is then proposed. It was also verified experimentally that in the human gait the ZMP trajectory amplitude depends on the swing time, reducing to zero for a static gait. It is then proposed a parameter to take into account this variation with the swing time of the

APA, Harvard, Vancouver, ISO, and other styles

21

Zhou, Xuefeng, Yisheng Guan, Li Jiang, et al. "Stability of biped robotic walking with frictional constraints." Robotica 31, no. 4 (2012): 573–88. http://dx.doi.org/10.1017/s0263574712000598.

Full text

Abstract:

SUMMARYTipping-over and slipping, which are related to zero moment point (ZMP) and frictional constraint respectively, are the two most common instability forms of biped robotic walking. Conventional criterion of stability is not sufficient in some cases, since it neglects frictional constraint or considers translational friction only. The goal of this paper is to fully address frictional constraints in biped walking and develop corresponding stability criteria. Frictional constraints for biped locomotion are first analyzed and then the method to obtain the closed-form solutions of the frictio

APA, Harvard, Vancouver, ISO, and other styles

22

Wang, Song, Songhao Piao, Xiaokun Leng, Zhicheng He, Xuelin Bai, and Li Huazhong. "Real-Time Footprint Planning and Model Predictive Control Based Method for Stable Biped Walking." Computational Intelligence and Neuroscience 2022 (April 1, 2022): 1–10. http://dx.doi.org/10.1155/2022/4781747.

Full text

Abstract:

In order to walk in a physical environment, the biped will encounter various external disturbances, and walking under persistent conditions is still challenging. This paper tries to improve the push recovery performance based on capture point (CP) and model predictive control. The trajectory of zero moment point (ZMP) and center of mass are solved and predicted in a limited time horizon. Online footprint generator is combined with MPC walking pattern generation, which can keep biped stable in the next few steps, and projection of ZMP is used to calculate the next footprint and reach the target

APA, Harvard, Vancouver, ISO, and other styles

23

Zaier, Riadh. "Rolling Optimization Method for Humanoid Robots." Sultan Qaboos University Journal for Science [SQUJS] 20, no. 2 (2015): 78. http://dx.doi.org/10.24200/squjs.vol20iss2pp78-87.

Full text

Abstract:

In this paper, a method of optimizing the rolling amplitude needed for a stable and smooth walking movement of a humanoid robot is considered. The optimization algorithm was based on minimizing a cost function defined by the rolling overshoot. The amplitude of the rolling during locomotion was calculated using the lateral zero moment point (ZMP) position. The initial value of the rolling was the static rolling that corresponds to the position of the ZMP at the center of the support polygon. The algorithm consisted of performing a ZMP calculation at two points that correspond to single support

APA, Harvard, Vancouver, ISO, and other styles

24

Dip, Goswami, Vadakkepat Prahlad, and Phung Duc Kien. "Genetic algorithm-based optimal bipedal walking gait synthesis considering tradeoff between stability margin and speed." Robotica 27, no. 3 (2009): 355–65. http://dx.doi.org/10.1017/s026357470800475x.

Full text

Abstract:

SUMMARYThe inverse kinematics of a 12 degrees-of-freedom (DOFs) biped robot is formulated in terms of certain parameters. The biped walking gaits are developed using the parameters. The walking gaits are optimized using genetic algorithm (GA). The optimization is carried out considering relative importance of stability margin and walking speed. The stability margin depends on the position of zero-moment-point (ZMP) while walking speed varies with step-size. The ZMP is computed by an approximation-based method which does not require system dynamics. The optimal walking gaits are experimentally

APA, Harvard, Vancouver, ISO, and other styles

25

Ogata, Kunihiro, and Hideyuki Tanaka. "Real-Time Self-Positioning with the Zero Moment Point Model and Enhanced Position Accuracy Using Fiducial Markers." Computers 13, no. 12 (2024): 310. http://dx.doi.org/10.3390/computers13120310.

Full text

Abstract:

Many companies are turning their attention to digitizing the work efficiency of employees in large factories and warehouses, and the demand for measuring individual self-location indoors is increasing. While methods combining wireless network technology and Pedestrian Dead Reckoning (PDR) have been developed, they face challenges such as high infrastructure costs and low accuracy. In this study, we propose a novel approach that combines high-accuracy fiducial markers with the Center of Gravity Zero Moment Point (COG ZMP) model. Combining fiducial markers enables precise estimation of self-posi

APA, Harvard, Vancouver, ISO, and other styles

26

Khalili, Heidar. "Path planning of a quadruped robot on a flat surface using ZMP for stability." Journal of Research in Science, Engineering and Technology 7, no. 02 (2020): 6–20. http://dx.doi.org/10.24200/jrset.vol7iss02pp6-20.

Full text

Abstract:

In this paper a novel method for gait trajectory design of a point legged quadruped robot with 18 degree of freedom on a flat surface is proposed. The exact model of the mechanical parts of the robot including four legs and the body and all joints will be derived and used in gait trajectory planning. Inverse dynamics of the quadruped are formulized using Denavit-Hartenberg (DH) convention. Bezier curves are used for trajectory planning. Effects of body and legs on Zero Moment Point (ZMP) will be analyzed separately. By manipulating free parameters, a stable gait trajectory will be designed acc

APA, Harvard, Vancouver, ISO, and other styles

27

Pristovani, R. Dimas, Dewanto Sanggar, and Pramadihanto Dadet. "Implementation and design of new low-cost foot pressure sensor module using piezoelectric sensor in T-FLoW humanoid robot." International Journal of Electrical and Computer Engineering (IJECE) 9, no. 1 (2019): 203–14. https://doi.org/10.11591/ijece.v9i1.pp203-214.

Full text

Abstract:

Basically, human can sense the active body force trough the soles of their feet and can feel the position vector of zero moment point (ZMP) based on the center of pressure (CoP) from active body force. This behavior is adapted by T-FLoW humanoid robot using unique sensor which is piezoelectric sensor. Piezoelectric sensor has a characteristic which is non-continuous reading (record a data only a moment). Because of it, this sensor cannot be used to stream data such as flex sensor, loadcell sensor, and torque sensor like previous research. Therefore, the piezoelectric sensor still can be used t

APA, Harvard, Vancouver, ISO, and other styles

28

KIM, JUNG-YUP, and YOUNG-SEOG KIM. "HUMAN-LIKE GAIT GENERATION FOR BIPED ANDROID ROBOT USING MOTION CAPTURE AND ZMP MEASUREMENT SYSTEM." International Journal of Humanoid Robotics 07, no. 04 (2010): 511–34. http://dx.doi.org/10.1142/s0219843610002155.

Full text

Abstract:

This article proposes a novel strategy to generate both a human-like walking pattern and a human-like zero moment point (ZMP) trajectory for a biped android robot. In general, the motion-capture technique has been widely utilized to obtain a walking pattern that is kinematically similar to the walking of a human. However, in addition to kinematic considerations, a suitable ZMP shaping technique is necessary to apply the human gait derived by motion capturing to biped robots more effectively. In previous research by the authors, a walking pattern generation strategy was developed considering th

APA, Harvard, Vancouver, ISO, and other styles

29

Kim, Seonghye, and Toshiyuki Murakami. "An Approach to Human Walking Analysis Based on Balance, Symmetry and Stability Using COG, ZMP and CP." Applied Sciences 10, no. 20 (2020): 7307. http://dx.doi.org/10.3390/app10207307.

Full text

Abstract:

The parameters of walking have been studied from the viewpoints of joint rotation and translation of body. The balance and symmetry of walking are indispensable features to understand for healthy walking, while also being a personal characteristic. However, quantification has not been easy to carry out in the case of the conventional gait parameters COG (center of gravity) and ZMP (zero moment point). In this approach, the CP (crossing point) is proposed to quantify the concept of symmetry and balance by comparing it to the COG and ZMP. The CP is estimated based on the intersection between the

APA, Harvard, Vancouver, ISO, and other styles

30

Kim, Jung-Yup, and Young-Seog Kim. "ZMP Tracking Control of an Android Robot Leg on Slope-Changing Ground Using Disturbance Observer and Dual Plant Models." International Journal of Humanoid Robotics 13, no. 03 (2016): 1550043. http://dx.doi.org/10.1142/s0219843615500437.

Full text

Abstract:

This paper describes a novel zero moment point (ZMP) tracking control strategy using a disturbance observer (DOB) in the presence of ground slope change for balance control of an android robot. With regard to conventional ZMP controls, many researchers have studied ZMP tracking control strategies using an inverted pendulum model on flat level ground, and they have solved a slow response problem of nonminimum phase systems by using suitable feedforward motions called walking patterns. However, the conventional methods lead to ZMP offset errors in the presence of ground slope change; it is hence

APA, Harvard, Vancouver, ISO, and other styles

31

Xia, Si Yu, Qiang Zhan, and Ahmed Rahmani. "ZMP Based Motion Stability Analysis of a Wheeled Humanoid Robot with Bending Torso." Applied Mechanics and Materials 851 (August 2016): 497–502. http://dx.doi.org/10.4028/www.scientific.net/amm.851.497.

Full text

Abstract:

Motion stability is the most important issue to be considered when designing a wheeled humanoid robot with bending torso, as it’s easy to capsize because of its high center of gravity. With ZMP (Zero Moment Point) method the motion stability of a wheeled humanoid robot with bending torso was analyzed. At first, the chain rule was used to model the kinematics of the wheeled humanoid robot, and then the process of calculating the ZMP of the robot was presented. With MATLAB the motion stability of the humanoid robot in three typical conditions is simulated and analyzed, and the simulation results

APA, Harvard, Vancouver, ISO, and other styles

32

Aphiratsakun, Narong, Kittipat Chairungsarpsook, and Manukid Parnichkun. "ZMP Based Gait Generation of AIT Leg Exoskeleton-A Further Gaits Generation." Advanced Materials Research 488-489 (March 2012): 1026–31. http://dx.doi.org/10.4028/www.scientific.net/amr.488-489.1026.

Full text

Abstract:

This paper is the extension of gait pattern generation of the Asian Institute of Technology’s Leg EXoskeleton (ALEX) and its wearer can walk safety with the passing criteria of Zero Moment Point (ZMP) theorem for static and dynamic considerations respectively. ALEX has 12 DOF (6 DOF for each leg: 3 at the Hip, 1 at the knee and 2 at the ankle), controlled by 12 DC motors. The CAD drawing and assembly of ALEX are exported directly to MATLAB’s Simulink-SimMechanics to obtain accurate position of center of gravity (CG) and moment of inertia of each link. The gait pattern is visually observed usin

APA, Harvard, Vancouver, ISO, and other styles

33

Han, Yawei, Shuai Guo, Leigang Zhang, Fengfeng (Jeff) Xi, and Weiwei Lu. "Tip-Over Stability Analysis of a Pelvic Support Walking Robot." Journal of Healthcare Engineering 2020 (February 7, 2020): 1–9. http://dx.doi.org/10.1155/2020/1506250.

Full text

Abstract:

Discussed in this paper is the tip-over stability analysis of a pelvic support walking robot. To improve the activities of daily living (ADL) in hemiplegic patients, a pelvic support walking robot is proposed to help patients facilitating their rehabilitation. During the gait training with the robot, the abnormal man-machine interaction forces may lead to the tip-over of the robot, which is not beneficial to the rehabilitation process. A new method is proposed to predict the possibility of tipping over and evaluate the stability of the robot based on statics model, dynamics model, and zero-mom

APA, Harvard, Vancouver, ISO, and other styles

34

Huan, Tran Thien, and Ho Pham Huy Anh. "Advanced biped gait generator using NARX-MLP neural model optimized by enhanced evolutionary algorithm." Vietnam Journal of Mechanics 44, no. 3 (2022): 249–65. http://dx.doi.org/10.15625/0866-7136/17230.

Full text

Abstract:

A novel biped walking pattern combining robust zero-moment-point ZMP technique and pre-determined foot-lifting value is proposed in this paper. The implementation of suggested approach contains following stages. Initially, a one-step ZMP curve for a small-sized humanoid is created using the 3rd-order interpolating equation, with pre-determined velocity responding the ZMP concept. The next step, biped gait planning is modeled as a non-linear MIMO plant including ten degree-of-freedom DOF. Then, the installation of a biped walking pattern generator (WPG) based on the new hybrid Neural-NARX model

APA, Harvard, Vancouver, ISO, and other styles

35

LEE, SANGYONG, JUNG-YUP KIM, and MUNSANG KIM. "DEVELOPMENT AND WALKING CONTROL OF EMOTIONAL HUMANOID ROBOT, KIBO." International Journal of Humanoid Robotics 10, no. 04 (2013): 1350024. http://dx.doi.org/10.1142/s0219843613500242.

Full text

Abstract:

This paper deals with the mechanical design, system integration, and dynamic walking algorithm of KIBO, an emotional biped humanoid robot that has a facial expression mechanism and various human-interactive devices. To emphasize the aesthetic features and marketability of KIBO, the mechanical design was performed after the exterior design stage to conform to all requirements, particularly constraints imposed by the external appearance and human-like link dimensions. For flexible biped walking, a walking pattern generator with variable walking parameters was developed. The walking pattern gener

APA, Harvard, Vancouver, ISO, and other styles

36

Ryoo, Young-Jae. "Walking Engine Using ZMP Criterion and Feedback Control for Child-Sized Humanoid Robot." International Journal of Humanoid Robotics 13, no. 04 (2016): 1650021. http://dx.doi.org/10.1142/s0219843616500213.

Full text

Abstract:

In this paper, a walking engine that achieves dynamic stable walking using zero moment point (ZMP) criterion and feedback control from a gyro sensor is proposed. The ZMP criterion is used for the dynamic walking, and the feedback control from a gyro sensor is adopted for stabilization. The proposed walking engine consists of ZMP controller and the gait generator. The three-dimensional linear inverted pendulum model (3D-LIPM) is adopted for a simplified model of the humanoid robot. The ZMP equations are derived based on the 3D-LIPM and are applied to the gait generator. The walking engine is te

APA, Harvard, Vancouver, ISO, and other styles

37

Chung, Hyun-Joon, Joo H. Kim, and Yujiang Xiang. "Rate of Angular Momentum in ZMP Using Efficient DH-Based Recursive Lagrangian." International Journal of Humanoid Robotics 15, no. 06 (2018): 1850028. http://dx.doi.org/10.1142/s0219843618500287.

Full text

Abstract:

Dynamic balance has to be maintained during motions of biped systems when their feet are in contact with the ground. As a necessary condition, this indicates that the calculated zero moment point (ZMP) position should be within the specified foot support region throughout the entire motion. A critical term in the ZMP formulation is the rate of angular momentum (RAM) for each link, which should be evaluated accurately and efficiently in motion planning and simulations. In this study, we propose a recursive Lagrangian method based on Denavit–Hartenberg convention to calculate the RAM for each li

APA, Harvard, Vancouver, ISO, and other styles

38

VUKOBRATOVIĆ, MIOMIR, BRANISLAV BOROVAC, and VELJKO POTKONJAK. "ZMP: A REVIEW OF SOME BASIC MISUNDERSTANDINGS." International Journal of Humanoid Robotics 03, no. 02 (2006): 153–75. http://dx.doi.org/10.1142/s0219843606000710.

Full text

Abstract:

One of basic characteristics of the regular bipedal walk of humanoid robots is the maintenance of their dynamic balance during the walk, whereby a decisive role is played by the unpowered degrees of freedom arising at the foot–ground contact. Hence, the role of the Zero-Moment Point (ZMP) as an indicator of dynamic balance is indispensable. This paper gives a detailed discussion of some basic theoretical assumptions related to the ZMP in the light of imprecise, and even incorrect, interpretations that have recently appeared, and which have led to some erroneous conclusions. Examples are given

APA, Harvard, Vancouver, ISO, and other styles

39

Li, Junmin, Jinge Wang, Simon X. Yang, Kedong Zhou, and Huijuan Tang. "Gait Planning and Stability Control of a Quadruped Robot." Computational Intelligence and Neuroscience 2016 (2016): 1–13. http://dx.doi.org/10.1155/2016/9853070.

Full text

Abstract:

In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper. To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in the paper. The control signals of knee-hip joints are obtained by the improved multi-DOF reduced order control theory. To realize stability control, the adaptive speed adjustment and gait switch are comp

APA, Harvard, Vancouver, ISO, and other styles

40

Usman, Muhammad, Muhammad Sajid, Emad Uddin, and Yasar Ayaz. "Investigation of Zero Moment Point in a Partially Filled Liquid Vessel Subjected to Roll Motion." Applied Sciences 10, no. 11 (2020): 3992. http://dx.doi.org/10.3390/app10113992.

Full text

Abstract:

Liquid-handling robots are designed to dispense sub-microliter quantities of fluids for applications including laboratory tests. When larger amounts of liquids are involved, sloshing must be considered as a parameter affecting stability, which is of significance for autonomous vehicles. The measurement and quantification of slosh in enclosed volumes poses a challenge to researchers who have traditionally resorted to tracking the air–liquid interface for two-phase flow analysis. There is a need for a simpler method to predict rollover in these applications. In this work, a novel solution to add

APA, Harvard, Vancouver, ISO, and other styles

41

BAGHERI, AHMAD, FARID NAJAFI, REZA FARROKHI, RAHMAN YOUSEFI MOGHADDAM, and MOHAMMAD EBRAHIM FELEZI. "DESIGN, DYNAMIC MODIFICATION, AND ADAPTIVE CONTROL OF A NEW BIPED WALKING ROBOT." International Journal of Humanoid Robotics 03, no. 01 (2006): 105–26. http://dx.doi.org/10.1142/s0219843606000527.

Full text

Abstract:

Recently, a lot of research has been conducted in the area of biped walking robots that could be compared to human beings. The aim of this article is to control a new planar biped robot by means of an adaptive procedure. The newly designed robot is able to move on its heel like a human. After derivation of dynamic equations of motion for two states of the robot, namely, "supporting leg and trunk" and "swing leg" separately, the stability of robot is achieved by locating the zero moment point (ZMP). A dynamic modification is developed for ZMP positioning. For motion control of the robot, the ph

APA, Harvard, Vancouver, ISO, and other styles

42

Wang, Xian Lun, Ping Li, and Fei Qi Yang. "Gait Planning of Humanoid Robot Based on ZMP and Cubic Spline Interpolation." Applied Mechanics and Materials 427-429 (September 2013): 1394–97. http://dx.doi.org/10.4028/www.scientific.net/amm.427-429.1394.

Full text

Abstract:

Teaching programming and manual programming are usually used to realize gait planning of humanoid robot. Many methods are lack of the adjustment of center of gravity and lead to the robot walking instability. The gait planning of humanoid robot is solved based on the Linear Inverted Pendulum Model and Zero Moment Point equation in this paper. Two feet trajectories are also planned to realize the smooth transition and overcome the impact during walking with the cubic spline interpolation method. The validation and feasibility of the method proposed in the paper are proved by the results of simu

APA, Harvard, Vancouver, ISO, and other styles

43

Liu, Chuzhao, Junyao Gao, Dingkui Tian, Xuefeng Zhang, Huaxin Liu, and Libo Meng. "A Disturbance Rejection Control Method Based on Deep Reinforcement Learning for a Biped Robot." Applied Sciences 11, no. 4 (2021): 1587. http://dx.doi.org/10.3390/app11041587.

Full text

Abstract:

The disturbance rejection performance of a biped robot when walking has long been a focus of roboticists in their attempts to improve robots. There are many traditional stabilizing control methods, such as modifying foot placements and the target zero moment point (ZMP), e.g., in model ZMP control. The disturbance rejection control method in the forward direction of the biped robot is an important technology, whether it comes from the inertia generated by walking or from external forces. The first step in solving the instability of the humanoid robot is to add the ability to dynamically adjust

APA, Harvard, Vancouver, ISO, and other styles

44

Dip, Goswami, and Vadakkepat Prahlad. "Rotational Stability Index (RSI) point: postural stability in planar bipeds." Robotica 29, no. 5 (2010): 705–15. http://dx.doi.org/10.1017/s0263574710000597.

Full text

Abstract:

SUMMARYThe postural stability of bipedal robots is investigated in perspective of foot-rotation during locomotion. With foot already rotated, the biped is modeled as an underactuated kinematic structure. The stability of such biped robots is analyzed by introducing the concept of rotational stability. The rotational stability investigates whether a biped would lead to a flat-foot posture or the biped would topple over. The rotational stability is quantified as a ground reference point named “rotational stability index (RSI)” point. Conditions are established to achieve rotational stability dur

APA, Harvard, Vancouver, ISO, and other styles

45

Tian, Dingkui, Junyao Gao, Chuzhao Liu, and Xuanyang Shi. "Simulation of Upward Jump Control for One-Legged Robot Based on QP Optimization." Sensors 21, no. 5 (2021): 1893. http://dx.doi.org/10.3390/s21051893.

Full text

Abstract:

An optimization framework for upward jumping motion based on quadratic programming (QP) is proposed in this paper, which can simultaneously consider constraints such as the zero moment point (ZMP), limitation of angular accelerations, and anti-slippage. Our approach comprises two parts: the trajectory generation and real-time control. In the trajectory generation for the launch phase, we discretize the continuous trajectories and assume that the accelerations between the two sampling intervals are constant and transcribe the problem into a nonlinear optimization problem. In the real-time contr

APA, Harvard, Vancouver, ISO, and other styles

46

Son, Byoung Jong, Yoon Su Baek, and Jung Hoon Kim. "Development of Foot Modules of an Exoskeleton Equipped with Multiple Sensors for Detecting Walking Phase and Intent." Applied Mechanics and Materials 752-753 (April 2015): 1016–21. http://dx.doi.org/10.4028/www.scientific.net/amm.752-753.1016.

Full text

Abstract:

This paper presents design and application of foot modules in exoskeleton. Detecting the walking phase and intent is most important data for controlling the wearable exoskeleton. The zero moment point (ZMP) trajectory in the robot foot support area is significant criterion for a stability of the walk. The ZMP is calculated by measured force / torque data and Force / Torque sensor (F/T sensor) can measure that. But, the thick foot module is inconvenient to walking. For such a reason, most foot modules are developed using the film type sensors such as force sensing resistor (FSR), ground contact

APA, Harvard, Vancouver, ISO, and other styles

47

Liu, Hong, and Qing Sun. "Motion Planning for Humanoid Robots in Complex Environments Based on Stance Sequence and ZMP Reference." Applied Mechanics and Materials 197 (September 2012): 415–22. http://dx.doi.org/10.4028/www.scientific.net/amm.197.415.

Full text

Abstract:

It is a great challenge to plan motion for humanoid robots in complex environments especially when the terrain is cluttered and discrete. To address this problem, a novel method is proposed in this paper by planning the gait according to the stance sequence and ZMP (Zero Moment Point) reference. It consists of two components: an adaptive footstep planner and a walking pattern generator. The adaptive footstep planner can generate the stance path according to the walking rules and adjust the orientation of body relevantly. As the footstep locations are determined, Linear Inverted Pendulum Model

APA, Harvard, Vancouver, ISO, and other styles

48

Ji, H. "Increasing step size of the 4-link robotic simulator in stable state." Applied and Computational Engineering 4, no. 1 (2023): 38–43. http://dx.doi.org/10.54254/2755-2721/4/20230343.

Full text

Abstract:

In this research, the 4-Link Robotic Simulator program in MATLAB is utilized to find the relation between the length of the links and the length of the two feet. While a few previous research focused on the zero-moment point (ZMP) of the robot geometry, this neglects the change of the position of ZMP in the processes of locomotion. The simulation model is introduced to present an integrated locomotion process of the robot. The testing method was developed based on the comparison between the simulation results from MATLAB. Three different scenarios are analyzed and compared to the original outc

APA, Harvard, Vancouver, ISO, and other styles

49

KUBO, Kazuya, Takanori MIYOSHI, and Kazuhiko TERASHIMA. "1G2-4 Modeling of Locomotion with Lift Walker Considering Zero Moment Point." Proceedings of the JSME Symposium on Welfare Engineering 2009 (2009): 109–11. http://dx.doi.org/10.1299/jsmewes.2009.109.

Full text

APA, Harvard, Vancouver, ISO, and other styles

50

Zhao, Fangzhou, and Junyao Gao. "Anti-Slip Gait Planning for a Humanoid Robot in Fast Walking." Applied Sciences 9, no. 13 (2019): 2657. http://dx.doi.org/10.3390/app9132657.

Full text

Abstract:

Humanoid robots are expected to have broad applications due to their biped mobility and human-like shape. To increase the walking speed, it is necessary to increase the power for driving the joints of legs. However, the resulting mass increasing of the legs leads to a rotational slip when a robot is walking fast. In this paper, a 3D three-mass model is proposed, in which both the trunk and thighs are regarded as an inverted pendulum, and the shanks and feet are considered as mass-points under no constraints with the trunk. Then based on the model, a friction constraint method is proposed to pl

APA, Harvard, Vancouver, ISO, and other styles

We offer discounts on all premium plans for authors whose works are included in thematic literature selections. Contact us to get a unique promo code!