Zero-Moment Point on a bipedal robot under bio-inspired walking control

2014 ◽  
Author(s):  
Nicolas Van der Noot ◽  
Allan Barrea
Keyword(s):  
Bipedal Robot ◽  
Zero Moment Point ◽  
Walking Control ◽  
Zero Moment

scholarly journals Dynamic Walking of a Legged Robot in Underwater Environments

Sensors ◽  
2019 ◽  
Vol 19 (16) ◽  
pp. 3588 ◽  
Author(s):  
Portilla ◽  
Saltarén ◽  
Espinosa ◽  
Barroso ◽  
Cely ◽  
...  
Keyword(s):  
Legged Robot ◽  
Dynamic Walking ◽  
Zero Moment Point ◽  
Hydraulic Actuators ◽  
External Perturbations ◽  
Underwater Environment ◽  
Zero Moment

In this research, the dynamic walking of a legged robot in underwater environments is proposed. For this goal, the underwater zero moment point (Uzmp) is proposed in order to generate the trajectory of the centre of the mass of the robot. Also, the underwater zero moment point auxiliary (Uzmp aux.) is employed to stabilize the balance of the robot before it undergoes any external perturbations. The concept demonstration of a legged robot with hydraulic actuators is developed. Moreover, the control that was used is described and the hydrodynamic variables of the robot are determined. The results demonstrate the validity of the concepts that are proposed in this article, and the dynamic walking of the legged robot in an underwater environment is successfully demonstrated.

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