Abstract
The bipedal robot structure is highly suitable for working in human environments due to its advantages in obstacle avoidance and its ability to be employed as a human substitute. However, the complex dynamics involved make biped robot control a challenging task. The zero moment point (ZMP) trajectory in the robot foot support area is a significant criterion for the stability of the walk. In many studies, ZMP coordinates are computed using a model of the robot and information from the joint encoders. A more direct approach is to use measurement data from sensors mounted in the robot feet. In this paper, a foot-mounted ZMP sensor design based on force sensing resistors (FSR) is presented and experimental ZMP data obtained from the biped walking robots Mari-1 and Mari-2 and human subjects are compared in the context of reference gait generation for biped walking robots.
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