The Dynamic Stability Criterion of the Wheel-based Humanoid Robot Based on ZMP Modeling
文献类型：会议论文
| 作者 | Li YJ(李艳杰); Wu ZW(吴镇炜) ; Zhong H(钟华)
|
| 出版日期 | 2009 |
| 会议名称 | 21st Chinese Control and Decision Conference |
| 会议日期 | June 17-19, 2009 |
| 会议地点 | Guilin, China |
| 关键词 | Zero Moment Point Humanoid Robot Dynamic Stability Criterion |
| 页码 | 2349-2352 |
| 通讯作者 | 李艳杰 |
| 中文摘要 | The concept of ZMP was introduced. The iterative ZMP computational method combining the effective Newton-Euler Algorithm with the concept of ZMP was proposed. The method has clear physical interpretation, lower computation complexity, is easy to program and control. The ZMP model of the wheel-based humanoid robot was built using the iterative ZMP computational method. The simplified ZMP computational equation of the wheel-based humanoid robot was given. Finally the dynamic stability criterion and the stability degree of the humanoid robot were defined. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议主办者 | NE Univ, IEEE Ind Elect Singapore Chapter, Guilin Univ Elect Technol, IEEE Control Syst Soc, IEEE Ind Elect Soc |
| 会议录 | CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-2723-9 |
| WOS记录号 | WOS:000274047200462 |
| 源URL | [http://ir.sia.cn/handle/173321/19873]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Li YJ,Wu ZW,Zhong H. The Dynamic Stability Criterion of the Wheel-based Humanoid Robot Based on ZMP Modeling[C]. 见:21st Chinese Control and Decision Conference. Guilin, China. June 17-19, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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