@article{(Open Science Index):https://publications.waset.org/pdf/15521,
	  title     = {ZMP Based Reference Generation for Biped Walking Robots},
	  author    = {Kemalettin Erbatur and  Özer Koca and  Evrim Taşkıran and  Metin Yılmaz and  Utku Seven},
	  country	= {},
	  institution	= {},
	  abstract     = {Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is
more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots.
However, the walking control for bipedal robots is a challenging task
due to their complex dynamics. Stable reference generation plays a very important role in control.
Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable
walking reference generation of biped walking robots. This paper follows this main approach too. We propose a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass trajectory is obtained
from predefined ZMP reference trajectories by a Fourier series
approximation method. The Gibbs phenomenon problem common with Fourier approximations of discontinuous functions is avoided by employing continuous ZMP references. Also, these ZMP reference
trajectories possess pre-assigned single and double support phases,
which are very useful in experimental tuning work.
The ZMP based reference generation strategy is tested via threedimensional
full-dynamics simulations of a 12-degrees-of-freedom
biped robot model. Simulation results indicate that the proposed reference trajectory generation technique is successful.},
	    journal   = {International Journal of Mechanical and Materials Engineering},
	  volume    = {3},
	  number    = {10},
	  year      = {2009},
	  pages     = {853 - 860},
	  ee        = {https://publications.waset.org/pdf/15521},
	  url   	= {https://publications.waset.org/vol/34},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 34, 2009},
	}