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	Measurement and study on ZMP-CoP of the biped walking robot
	Lin Ding-Ding ; Liu Li ; Zhao Jian-Dong ; Chen Ken
	2010-05-10 ; 2010-05-10
关键词	Theoretical or Mathematical/ force sensors humanoid robots legged locomotion stability/ zero moment point measurement center of pressure measurement biped walking robot stability THBIP-I robot six axis force moment sensors humanoid biped robot/ C3390C Mobile robots C1320 Stability in control theory
中文摘要	ZMP (zero moment point) and (center of pressure) CoP are important criteria for the stability of the biped locomotion. In this paper, the relation between ZMP and CoP is studied. Based on the posture adjustment requirement of THBIP-I and the installation position of the 6-axis force-moment sensors, the formulae for computing CoP of a humanoid biped robot are deduced, and a CoP measurement system based on the 6-axis force-moment sensors is presented. The accuracy of this system is experimentally confirmed, and CoP is measured throughout the whole walking phase. The results of the measured CoP are discussed.
语种	中文 ; 中文
出版者	Chinese Assoc. of Automation ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/25183]
专题	清华大学
推荐引用方式 GB/T 7714	Lin Ding-Ding,Liu Li,Zhao Jian-Dong,et al. Measurement and study on ZMP-CoP of the biped walking robot[J],2010, 2010.
APA	Lin Ding-Ding,Liu Li,Zhao Jian-Dong,&Chen Ken.(2010).Measurement and study on ZMP-CoP of the biped walking robot..
MLA	Lin Ding-Ding,et al."Measurement and study on ZMP-CoP of the biped walking robot".(2010).

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