Abstract
We developed a novel rapid mobile robot with zero-moment point (ZMP) stabilization. Most mobile robots cannot move quickly due to their high center of mass and narrow ground contact area. The higher center of mass makes it easier for the mobile robot to tip over. To stabilize mobile robots, we designed a multi-degreeof-freedom inverted pendulum to control the ZMP of mobile robots. Using a feed-forward ZMP stabilization method, we achieved zero change of the ZMP at any input velocity. We proved through experiments that it is possible to move stably at a maximum acceleration of 0.61 g and a maximum velocity of 12.35 km/h using the proposed method.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
