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Balance control for biped walking robots using only zero-moment-point position signal

1 1 1 1 1 Rating 4.80 (49 Votes)

ABSTRACT:

A new control algorithm for balancing biped walking robots is presented. It is superior to existing approaches in terms of simplicity, versatility and ease-of-use. Performance of the proposed control scheme is predicted theoretically and proved by experiments involving a large humanoid robot.


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Balance control for biped walking robots using only zero-moment-point position signal - 4.8 out of 5 based on 49 votes

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