[1]PENG Xiu-yan,LI Yi-dan,LV Shu-ping,et al.Research on the control of stable gaits in humanoid robots[J].CAAI Transactions on Intelligent Systems,2008,3(6):536-540.
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Research on the control of stable gaits in humanoid robots

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 3 Number of periods: 2008 6 Page number: 536-540 Column: 学术论文—智能系统 Public date: 2008-12-25
Title:
Research on the control of stable gaits in humanoid robots
Author(s):
PENG Xiu-yan1;  LI Yi-dan2;  LV Shu-ping1;  ZHAO Xi-ren1
1.College of Automation, Harbin Engineering University, Harbin 150001,China；2.College of Electrical Engineering and Information, Heilongjiang Institute of Science and Technology, Harbin 150027,China
Keywords:
ZMP stability criterion;  fuzzy control;  ankle joint motion
CLC:
TP273.4
DOI:
-
Abstract:
This paper introduces the status of current research on control of humanoid robot motion. After analyzing the criterion for stability in walking robots, we concluded that adjusting the zero movement point (ZMP) by controlling the rotational angle of the ankle joint guarantees walking stability. A twodimensional fuzzy control system for ankle joints and a corresponding fuzzy controller were designed according to fuzzy control theory. A simulation was then done. The simulation results verified that walking robots have stable motion when the position of the ZMP point is adjusted by controlling the relative angular motion of the ankles.
References:
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