Show simple item record

Detecting Zero-Moment Point in Legged Robot

dc.contributor.authorMontes Franceschi, Héctor
dc.contributor.authorManuel, Armada
dc.contributor.authorNabulsi, Samir
dc.date.accessioned2018-05-03T17:43:31Z
dc.date.accessioned2018-05-03T17:43:31Z
dc.date.available2018-05-03T17:43:31Z
dc.date.available2018-05-03T17:43:31Z
dc.date.issued07/01/2014
dc.date.issued07/01/2014
dc.identifierhttps://link.springer.com/chapter/10.1007%2F3-540-29461-9_21
dc.identifier.urihttp://ridda2.utp.ac.pa/handle/123456789/4737
dc.identifier.urihttp://ridda2.utp.ac.pa/handle/123456789/4737
dc.descriptionThe study of Zero-moment point (ZMP) in ROBOCLIMBER (quadruped walking and climbing robot) was realized and calculated in real time during statically postural and dynamically balanced gait. Force sensor with strain gages was implemented on each foot bar of the robot in order to measure the ground reaction forces used for calculate the ZMP and to realize futures force control strategies. With the statically postural the ZMP was localized in order to know the point where the reaction force of the ground acts and so to know the distance between the geometric centre and the statically ZMP. When the robot realized one gait the ZMP was analyzed in order to identify if the ZMP was inside of support polygon. With this analysis it is possible to realize stables gaits with compliance movements.en_US
dc.description.abstractThe study of Zero-moment point (ZMP) in ROBOCLIMBER (quadruped walking and climbing robot) was realized and calculated in real time during statically postural and dynamically balanced gait. Force sensor with strain gages was implemented on each foot bar of the robot in order to measure the ground reaction forces used for calculate the ZMP and to realize futures force control strategies. With the statically postural the ZMP was localized in order to know the point where the reaction force of the ground acts and so to know the distance between the geometric centre and the statically ZMP. When the robot realized one gait the ZMP was analyzed in order to identify if the ZMP was inside of support polygon. With this analysis it is possible to realize stables gaits with compliance movements.en_US
dc.formatapplication/pdf
dc.formattext/html
dc.languageeng
dc.rightsinfo:eu-repo/semantics/embargoedAccess
dc.subjectGround Reaction Forceen_US
dc.subjectGeometric Centreen_US
dc.subjectBiped Roboten_US
dc.subjectPrismatic Jointen_US
dc.subjectRobot Bodyen_US
dc.subjectGround Reaction Force
dc.subjectGeometric Centre
dc.subjectBiped Robot
dc.subjectPrismatic Joint
dc.subjectRobot Body
dc.titleDetecting Zero-Moment Point in Legged Roboten_US
dc.typeinfo:eu-repo/semantics/article
dc.typeinfo:eu-repo/semantics/publishedVersion


Files in this item

FilesSizeFormatView

There are no files associated with this item.

This item appears in the following Collection(s)

Show simple item record