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Fuzzy Modeling of Zero Moment Point Trajectory for a Biped Walking Robot

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Knowledge-Based Intelligent Information and Engineering Systems (KES 2004)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 3214))

Abstract

The biped walking robot has almost the same mechanisms as a human and is suitable for moving in an environment which contains stairs, obstacles, etc. However, the complex dynamics involved make the biped robot control a challenging task. For the stability of the biped walking robot, the zero moment point (ZMP) trajectory in the robot foot support area is a significant criterion. If the ZMP during walking can be measured, it is possible to realize stable walking and to stably control the biped robot by the use of the measured ZMP. In this paper, actual ZMP data are measured in real time situations from practical biped walking robot and the obtained ZMP data are modeled by TS-type fuzzy system. By the simulation results, the TS-type fuzzy system can be effectively used to model practical biped walking robot.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, Korea University, 5-Ka Anam-Dong, Sungbuk-Gu, Seoul, 136-701, Korea

    Dongwon Kim, Nak-Hyun Kim & Gwi-Tae Park

  2. Department of Electrical & Electronic Engineering, Anyang University, 708-113, Anyang 5dong, Manan-gu, Anyang-shi, Kyunggi-do, 430-714, Korea

    Sam-Jun Seo

Authors
  1. Dongwon Kim
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  2. Nak-Hyun Kim
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  3. Sam-Jun Seo
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  4. Gwi-Tae Park
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Editor information

Editors and Affiliations

  1. KES International, 2nd Floor, 145-157 St John Street, EC1V 4PY, London, United Kingdom

    Mircea Gh. Negoita

  2. Centre for SMART systems Engineering Research Centre, University of Brighton, BN2 4GJ, Moulsecoomb, Brighton, UK

    Robert J. Howlett

  3. School of Electrical and Information Engineering, Knowledge Based Intelligent Engineering Systems Centre, University of South Australia, Mawson Lakes, 5095, Mawson Lakes, SA, Australia

    Lakhmi C. Jain

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© 2004 Springer-Verlag Berlin Heidelberg

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Kim, D., Kim, NH., Seo, SJ., Park, GT. (2004). Fuzzy Modeling of Zero Moment Point Trajectory for a Biped Walking Robot. In: Negoita, M.G., Howlett, R.J., Jain, L.C. (eds) Knowledge-Based Intelligent Information and Engineering Systems. KES 2004. Lecture Notes in Computer Science(), vol 3214. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30133-2_94

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  • DOI: https://doi.org/10.1007/978-3-540-30133-2_94

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-23206-3

  • Online ISBN: 978-3-540-30133-2

  • eBook Packages: Springer Book Archive

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