The method of zero-moment point for the problem of dynamic stabilization AR-600. Moving AR-600 at the site
- Pages
- 81-84
robotic system
biped circulation
dynamic stabilization
balance
center of gravity
sensor of acceleration
AR-600
encoder
zero-moment point
ZMP
Cart-table model
Robot Operating System
ROS
Abstract
The Method of Zero-moment point is considered. The basic formula to help you find point ZMP are development. A variant of applying this method is considered. The sequence of commands for task biped robotic system are described. A variant of the introduction drivers in Robot Operating System are considered.
Reference
1. Ложкин П. В., Толстель О. В. Создание программно-аппаратного комплекса, обеспечивающего динамическое равновесие и движение РТК AR-600 // Вестник Балтийского федерального университета им. И. Канта. 2013. Вып. 4. С. 110—117.
2. Dekker M. H. P. Zero-moment point method for stable biped walking. Eindhoven, July 2009, DCT no.: 2009.072.