期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
DOI：10.5772/52448
语种：English
出版社：SAGE Publications
摘要：The Zero Moment Point (ZMP) stability criterion has been broadly employed for walking pattern generation in legged robots. However, ZMP-based approaches usually ignore the presence of angular momentum in the system. This hinders the performance of the gait, especially against disturbances. In this work we propose an angular momentum controller that can be integrated into standard ZMP-based gaits. The experiments on a real Nao robot demonstrate that the use of the proposed angular momentum controller improves the stability of a walking pattern generator based on the preview control of the ZMP.
关键词：Bipedal Walking; Balance and Stability Control; Angular Momentum
