Publications / 2004 Proceedings of the 21st ISARC, Jeju, South Korea

Study of ZMP Measurement for Bipedrobot Using FSR Sensor

Bong Gyou Shim, Eung Hyuk Lee, Hong Ki Min, Seung Hong Hong

This paper discuss a method measuring ZMP for biped robot. We obtained feet-bottom pressure distribution using FSR sensors attaching feet-bottom. We calculate value of ZMP coordinates that is the center of gravity for biped robot using their pressure distribution. Value of Biped Robot ZMP coordinates always exists in feet-bottom. When walking limbs of biped robot are controlled, inverse kinematics use method supposed by author. We introduce it in this paper.

Keywords: Biped Robot, FSR Sensor, ZMP, feet-bottom