Mechanics in Engineering ›› 2006, Vol. 28 ›› Issue (6): 0-0.doi: 10.6052/1000-0992-2005-388
• Application study •
The paper presents a mathematical modeling study on the gait
stability control of a 17 degrees of freedom biped robot, based on ZMP theory and
the Pose Transformation Matrix, with the mathematical description of relative
center of gravity and relative reference frame. The proposed mathematical model
can describe the stability control of robots. It is shown, by
Matlab mathematical computation and emulation study, that this model
can describe the walking rules of biped robots, which means that
gait stability control of biped robots can be achieved.
The whole model is encapsulated into a visual system by VC++ so that the
model can be brought under a practical control, thus providing a technical
support for the study of real-time control of future robots.
gait stability control, mathematic modeling, ZMP, genetic algorithms
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