Terrain-aware rollover prediction for ground vehicles using the zero-moment point method

2010 ◽  
Author(s):  
Sittikorn Lapapong ◽  
Sean N Brennan
Keyword(s):  
Point Method ◽  
Ground Vehicles ◽  
Zero Moment Point ◽  
Zero Moment ◽  
Rollover Prediction

ZMP Based Motion Stability Analysis of a Wheeled Humanoid Robot with Bending Torso

2016 ◽  
Vol 851 ◽  
pp. 497-502
Author(s):  
Si Yu Xia ◽  
Qiang Zhan ◽  
Ahmed Rahmani
Keyword(s):  
Stability Analysis ◽  
Humanoid Robot ◽  
Center Of Gravity ◽  
Chain Rule ◽  
Point Method ◽  
Zero Moment Point ◽  
Motion Stability ◽  
Simulation Results ◽  
Zero Moment ◽  
High Center

Motion stability is the most important issue to be considered when designing a wheeled humanoid robot with bending torso, as it’s easy to capsize because of its high center of gravity. With ZMP (Zero Moment Point) method the motion stability of a wheeled humanoid robot with bending torso was analyzed. At first, the chain rule was used to model the kinematics of the wheeled humanoid robot, and then the process of calculating the ZMP of the robot was presented. With MATLAB the motion stability of the humanoid robot in three typical conditions is simulated and analyzed, and the simulation results were used to optimize some parameters of a wheeled humanoid robot we are designing.

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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