Control of Walking Robots by Manipulating the Zero Moment Point.

Abstract

This paper proposes a control method for walking robots by manipulating the zero moment point of the motion . The control law is developed based on a simple model , in which motion of a point mass in a sagital plane is governed by the gravitation and reaction force from the ground . Stability of the system under the control is analyzed by using the state plots of the motion trajectory . control , which is required , in conventional methods , in order to prevent the robot from falling down .