A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is application/pdf
.
Development of "MEL HORSE"
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
MEL HORSE has been developed for studying quadruped robot and biped robot. Biped robot "MEL Deinonychus II" is a fore-portion of "MEL HORSE II". To develop legged robot, we can not avoid the problem how to control the robot real-timely. Control of ZMP(Zero Moment Point) is indispensable in order for a legged type robot to dynamic walk. Conventionally, control of ZMP prepared a trajectory with which it is satis¯ed of ZMP by which o®-line calculation was carried out beforehand, and control which
doi:10.1109/robot.1999.772458
dblp:conf/icra/Takeuchi99
fatcat:y5jbtbwhtvaltccnugmwu7ncnm