Article ID Journal Published Year Pages File Type
5002132 IFAC-PapersOnLine 2016 5 Pages PDF
Abstract
In this paper the trajectory modelling of “Archi” robot for stable walking is presented. The walking trajectories and corresponding joints velocities and accelerations are generated according to the existing robot “Archi” parameters. Then the zero moment point (ZMP) analysis is performed for the obtained trajectory model in order to evaluate the walking stability. The results show that the generated trajectories can be used for controlling the stable walking of “Archi” robot.
Keywords
Related Topics
Physical Sciences and Engineering Engineering Computational Mechanics
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