Article | 01-June-2012
-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, Volume 5 , ISSUE 2, 329–346
Research Article | 13-December-2017
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, Volume 1 , ISSUE 1, 187–207
Article | 01-June-2015
Liang Yang,
Song Xijia,
Chunjian Deng
International Journal on Smart Sensing and Intelligent Systems, Volume 8 , ISSUE 2, 1162–1179