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  • In Jour Smart Sensing And Intelligent Systems

 

Article

Monitoring the Postural Stability of Planar Bipedal Robots using the Moment-Height Stability Measure

-known postural stability measure Zero-Moment Point (ZMP). The MHS and the ZMP are applied to two types of manoeuvres of a planar bipedal robot, consisting of standing up and swinging forward. Simulation results reveal that both the ZMP and the MHS predict the same instant for the occurrence of postural instability for the biped; the MHS warns the biped that the potential of postural instability amplifies once the overall height of the biped center of mass (CM) starts elevating, while the ZMP does so

Mansoor Alghooneh, Amir Takhmar, S. Ali. A. Moosavian

International Journal on Smart Sensing and Intelligent Systems , ISSUE 2, 329–346

Research Article

BIPED LOCOMOTION: STABILITY, ANALYSIS AND CONTROL

In this paper, researches and advances in biped locomotion are reviewed. A detailed survey is presented describing the various research problems and the approaches reported in the literature to analyze and control biped locomotion. A method of Zero-Moment-Point (ZMP) compensation is discussed to improve the stability of locomotion of a biped which is subjected to disturbances. A compensating torque, computed from the force sensor reading, is injected into the ankle-joint of the foot of the

Prahlad Vadakkepat, Dip Goswami

International Journal on Smart Sensing and Intelligent Systems , ISSUE 1, 187–207

Article

OPPOSITION-BASED LEARNING PARTICLE SWARM OPTIMIZATION OF RUNNING GAIT FOR HUMANOID ROBOT

Liang Yang, Song Xijia, Chunjian Deng

International Journal on Smart Sensing and Intelligent Systems , ISSUE 2, 1162–1179

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