An Overview on Balancing and Stabilization Control of Biped Robots


Academic Paper, 2017

21 Pages


Excerpt


Table of Contents

Abstract

1. Introduction

2. Gait cycle

3. Stability
3.1 Zero-Moment Point (ZMP)
3.2 Centroidal angular momentum
3.3 Footstep-based criteria

4. ZMP-based control

5. High-level control
5.1 Online reference walking patterns
5.2 Balance control

6. Low-level control

7. Conclusions

References

Excerpt out of 21 pages

Details

Title
An Overview on Balancing and Stabilization Control of Biped Robots
Author
Year
2017
Pages
21
Catalog Number
V375226
ISBN (eBook)
9783668550339
ISBN (Book)
9783668550346
File size
1698 KB
Language
English
Keywords
Biped robot, Stability, Zero-moment point, Balance, Multi-level control
Quote paper
Hayder Al-Shuka (Author), 2017, An Overview on Balancing and Stabilization Control of Biped Robots, Munich, GRIN Verlag, https://www.grin.com/document/375226

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