Abstract
Many biped walking robots are already introduced. Intelligent Handling and Robotics – IHRT at the Vienna University started developing a humanoid robot, which can be used as a servant at home. One part of the research works deals with the development of a method for controlling the stability of a biped robot in the stationary state based on the well known ZMP. This paper describes the control method of the angular momentum of walking robots through the manipulation of the zero moment point (ZMP).
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