Zero-Moment Point on a bipedal robot under bio-inspired walking control

Van der Noot, Nicolas;Barrea, Allan
(2014) Mediterranean Electrotechnical Conference (MELECON), 2014 17th IEEE — Location: Beirut (13.April.2014)

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Authors
  • Van der Noot, NicolasUCLouvain
    Author
  • Barrea, AllanUCLouvain
    Author
Abstract
Humanoid robots are currently still far from reaching the impressive human walking capabilities. Among the different methods used to design walking controllers, those based on the Zero-Moment Point (ZMP) criterion are among the most popular, even if they induce intrinsic limitations in terms of energy consumption and robustness. In parallel, bio-inspired controllers are emerging. They overcome the ZMP-based limitations, but still miss robust stabilization rules to be validated on real robots. This contribution studies how to efficiently compute the ZMP in realtime on a robot walking with bio-inspired control rules, in order to detect when the robot stability is compromised.
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Van der Noot, N., & Barrea, A. (2014). Zero-Moment Point on a bipedal robot under bio-inspired walking control. Mediterranean Electrotechnical Conference (MELECON), 2014 17th IEEE, Beirut. https://hdl.handle.net/2078.5/254328