2020
DOI: 10.4018/978-1-5225-9924-1.ch007
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ZMP-Based Trajectory Generation for Bipedal Robots Using Quadratic Programming

Abstract: In this chapter, the problem of trajectory generation for bipedal walking robots is considered. A number of modern techniques are discussed, and their limitations are shown. The chapter focuses on zero-moment point methods for trajectory generation, where the desired trajectory of that point can be used to allow the robot to keep vertical stability if followed, and presents an instrument to calculate the desired trajectory for the center of mass for the robot. The chapter presents an algorithm based on quadrat… Show more

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Cited by 4 publications
(1 citation statement)
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“…By solving this equation analytically, the CoM trajectory with the ZMP of interest can be calculated quickly. One of the control methods applied is linear-quadratic optimal control to find the COM path that tracks the ZMP reference and is often used to create a walking trajectory for humanoid robots [8,10,26,32,34,35].…”
Section: Zmp (Zero Moment Point) Trajectorymentioning
confidence: 99%
“…By solving this equation analytically, the CoM trajectory with the ZMP of interest can be calculated quickly. One of the control methods applied is linear-quadratic optimal control to find the COM path that tracks the ZMP reference and is often used to create a walking trajectory for humanoid robots [8,10,26,32,34,35].…”
Section: Zmp (Zero Moment Point) Trajectorymentioning
confidence: 99%