Contributions to Proceedings:
P. Kopacek, X. Mehmeti, B. Karahoda:
"Walking trajectory modeling of biped robot "Archi" for stable walking";
in: "Proceedings 17th IFAC Conference on International Stability, Technology and Culture TECIS 2016",
IFAC-PapersOnLine, Volume 49, Issue 29;
issued by: International Federation on Automatic Control, IFAC;
Elsevier Science Publishers B.V.,
2016,
83
- 87.
English abstract:
In this paper the trajectory modelling of "Archi" robot for stable walking is presented. The walking trajectories and corresponding joints velocities and accelerations are generated according to the existing robot "Archi" parameters. Then the zero moment point (ZMP) analysis is performed for the obtained trajectory model in order to evaluate the walking stability. The results show that the generated trajectories can be used for controlling the stable walking of "Archi" robot
Keywords:
Biped Robot, Archi, ZMP analysis, walking trajectory
"Official" electronic version of the publication (accessed through its Digital Object Identifier - DOI)
http://dx.doi.org/10.1016/j.ifacol.2016.11.107
Created from the Publication Database of the Vienna University of Technology.