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The Dynamic Stability Criterion of the Wheel-based Humanoid Robot Based on ZMP Modeling
Li YJ(李艳杰); Wu ZW(吴镇炜); Zhong H(钟华)
作者部门机器人学研究室
会议名称21st Chinese Control and Decision Conference
会议日期June 17-19, 2009
会议地点Guilin, China
会议主办者NE Univ, IEEE Ind Elect Singapore Chapter, Guilin Univ Elect Technol, IEEE Control Syst Soc, IEEE Ind Elect Soc
会议录名称CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS
出版者IEEE
出版地NEW YORK
2009
页码2349-2352
收录类别EI ; CPCI(ISTP)
EI收录号20094712469804
WOS记录号WOS:000274047200462
产权排序2
ISBN号978-1-4244-2723-9
关键词Zero Moment Point Humanoid Robot Dynamic Stability Criterion
摘要The concept of ZMP was introduced. The iterative ZMP computational method combining the effective Newton-Euler Algorithm with the concept of ZMP was proposed. The method has clear physical interpretation, lower computation complexity, is easy to program and control. The ZMP model of the wheel-based humanoid robot was built using the iterative ZMP computational method. The simplified ZMP computational equation of the wheel-based humanoid robot was given. Finally the dynamic stability criterion and the stability degree of the humanoid robot were defined.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19873
专题机器人学研究室
通讯作者Li YJ(李艳杰)
作者单位1.College of Mechanical Engineering, Shenyang Ligong University, Shenyang, 110168, China
2.State Key Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016, China
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Li YJ,Wu ZW,Zhong H. The Dynamic Stability Criterion of the Wheel-based Humanoid Robot Based on ZMP Modeling[C]//NE Univ, IEEE Ind Elect Singapore Chapter, Guilin Univ Elect Technol, IEEE Control Syst Soc, IEEE Ind Elect Soc. NEW YORK:IEEE,2009:2349-2352.
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