QIAN Min, WU Zhong-cheng, SHEN Fei, GE Yu. The Study of Actual ZMP Measurement for a Biped Walking Robot Based on Force Plates Array System[J]. ROBOT, 2004, 26(3): 259-262.
Citation:
QIAN Min, WU Zhong-cheng, SHEN Fei, GE Yu. The Study of Actual ZMP Measurement for a Biped Walking Robot Based on Force Plates Array System[J]. ROBOT, 2004, 26(3): 259-262.
QIAN Min, WU Zhong-cheng, SHEN Fei, GE Yu. The Study of Actual ZMP Measurement for a Biped Walking Robot Based on Force Plates Array System[J]. ROBOT, 2004, 26(3): 259-262.
Citation:
QIAN Min, WU Zhong-cheng, SHEN Fei, GE Yu. The Study of Actual ZMP Measurement for a Biped Walking Robot Based on Force Plates Array System[J]. ROBOT, 2004, 26(3): 259-262.
The Study of Actual ZMP Measurement for a Biped Walking Robot Based on Force Plates Array System
In this paper, a multi-dimensional force plate array is presented and the ground reaction forces are examined. The ZMP trajectory of human subject is precisely calculated based on the Vukobratovic's ZMP definition and is a significant reference for the stability control of humanoid robot. Furthermore, the system can be used to measure the actual ZMP trajectory of a biped walking robot.
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