Learning control of compensative trunk motion for biped walking robot based on zmp stability criterion

Qinghua Li; A. Takanishi; I. Kato

doi:10.1109/IROS.1992.587398

Learning control of compensative trunk motion for biped walking robot based on zmp stability criterion

Qinghua Li^*, A. Takanishi, I. Kato

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

54 Citations (Scopus)

Abstract

The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot that has a trunk. In this paper, the authors propose a learning control algorithm of the compensative trunk motion that makes the actual ZMP get closer to the desired ZMP. The convergency of the algorithm is confirmed by computer simulation and learning experiments with the biped robot. The change of the convergence rate with the change of the weight coefficient multiplied to the errors between the measured ZMP and the desired ZMP is confirmed by the simulation and the experiments. And also the reasons are discussed.

Original language	English
Title of host publication	IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publication	Sensor-Based Robotics and Opportunties for its Industrial Applications
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	597-603
Number of pages	7
ISBN (Electronic)	0780307372
DOIs	https://doi.org/10.1109/IROS.1992.587398
Publication status	Published - 1992
Event	1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States Duration: 1992 Jul 7 → 1992 Jul 10

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	1
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
Country/Territory	United States
City	Raleigh
Period	92/7/7 → 92/7/10

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.1992.587398

Cite this

Li, Q., Takanishi, A., & Kato, I. (1992). Learning control of compensative trunk motion for biped walking robot based on zmp stability criterion. In IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications (pp. 597-603). Article 587398 (IEEE International Conference on Intelligent Robots and Systems; Vol. 1). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.1992.587398

Learning control of compensative trunk motion for biped walking robot based on zmp stability criterion. / Li, Qinghua; Takanishi, A.; Kato, I.
IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications. Institute of Electrical and Electronics Engineers Inc., 1992. p. 597-603 587398 (IEEE International Conference on Intelligent Robots and Systems; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Li, Q, Takanishi, A & Kato, I 1992, Learning control of compensative trunk motion for biped walking robot based on zmp stability criterion. in IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications., 587398, IEEE International Conference on Intelligent Robots and Systems, vol. 1, Institute of Electrical and Electronics Engineers Inc., pp. 597-603, 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992, Raleigh, United States, 92/7/7. https://doi.org/10.1109/IROS.1992.587398

Li Q, Takanishi A, Kato I. Learning control of compensative trunk motion for biped walking robot based on zmp stability criterion. In IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications. Institute of Electrical and Electronics Engineers Inc. 1992. p. 597-603. 587398. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.1992.587398

Li, Qinghua ; Takanishi, A. ; Kato, I. / Learning control of compensative trunk motion for biped walking robot based on zmp stability criterion. IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications. Institute of Electrical and Electronics Engineers Inc., 1992. pp. 597-603 (IEEE International Conference on Intelligent Robots and Systems).

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abstract = "The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot that has a trunk. In this paper, the authors propose a learning control algorithm of the compensative trunk motion that makes the actual ZMP get closer to the desired ZMP. The convergency of the algorithm is confirmed by computer simulation and learning experiments with the biped robot. The change of the convergence rate with the change of the weight coefficient multiplied to the errors between the measured ZMP and the desired ZMP is confirmed by the simulation and the experiments. And also the reasons are discussed.",

author = "Qinghua Li and A. Takanishi and I. Kato",

note = "Publisher Copyright: {\textcopyright} 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.; 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 ; Conference date: 07-07-1992 Through 10-07-1992",

year = "1992",

doi = "10.1109/IROS.1992.587398",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

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N2 - The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot that has a trunk. In this paper, the authors propose a learning control algorithm of the compensative trunk motion that makes the actual ZMP get closer to the desired ZMP. The convergency of the algorithm is confirmed by computer simulation and learning experiments with the biped robot. The change of the convergence rate with the change of the weight coefficient multiplied to the errors between the measured ZMP and the desired ZMP is confirmed by the simulation and the experiments. And also the reasons are discussed.

AB - The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot that has a trunk. In this paper, the authors propose a learning control algorithm of the compensative trunk motion that makes the actual ZMP get closer to the desired ZMP. The convergency of the algorithm is confirmed by computer simulation and learning experiments with the biped robot. The change of the convergence rate with the change of the weight coefficient multiplied to the errors between the measured ZMP and the desired ZMP is confirmed by the simulation and the experiments. And also the reasons are discussed.

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BT - IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Learning control of compensative trunk motion for biped walking robot based on zmp stability criterion

Abstract

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