Abstract
Stable biped walking is an important and essential aspect in humanoid robots. In this paper, a method is proposed to control humanoid robot to walk stably based on Force Sensing Resistor (FSR) sensors and Inverted Pendulum Model (IPM). Firstly, an offline gait planning method is proposed based on IPM by using some parameters to describe walking process. Then Zero Moment Point (ZMP) can be calculated by using FSR sensors that attached to the feet. Thirdly, a ZMP controller is designed to adjust the robot’s ankle, hip and knee joint’s angle to make the robot walk stably. Finally, the performance of the proposed method is verified by walking experiments on a 21-DOFs humanoid robot, SCUT-I.
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Sheng, B. et al. (2012). Walking Control Method of Humanoid Robot Based on FSR Sensors and Inverted Pendulum Model. In: Herrmann, G., et al. Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science(), vol 7429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32527-4_36
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DOI: https://doi.org/10.1007/978-3-642-32527-4_36
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-32526-7
Online ISBN: 978-3-642-32527-4
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