Systems, Man, and Cybernetics

 

Home

• [P1173] Posture Changing Stabilization of a Humanoid Biped Robot based on Linear Regression
  Author(s): Hsin-Yu Liu, Rong-Jyue Wang, Wen-June Wang
  
  

  Abstract
  Stable and smooth moving is one of the most important challenge for a humanoid biped robot. In this paper, a stabilizing moving method of the humanoid biped robot is presented for the motions of a humanoid robot such as bowing and kicking motion. First, based on Zero Moment Point (ZMP) concept as the stability index, the sampled ankle angle data of a humanoid biped robot with stability are generated for the designed motions. Next, applying linear interpolation and using linear regression to obtain the complete suitable angle adjusting trajectory of the robot¡¯s ankle for the stability of the robot. The effectiveness of the proposed method was simulated by computer and experimented by a 17-degree-of-freedom (DOF) humanoid biped robot.

  
   

Full Text (PDF)