Burkhard J. Corves

Work place: RWTH Aachen University, Department of Mechanism and Machine Dynamics, Germany

E-mail: corves@igm.rwth-aachen.de


Research Interests: Robotics


Burkhard J. Corves was born in Kiel, Germany, in 1960. He received the Diploma and PhD degrees in Mechanical Engineering from RWTH Aachen University, Aachen, Germany, in 1984 and 1989 respectively. From 1991 until 2000, while he worked in a Swiss Engineering Company, he got teaching assignment in RWTH Aachen University. Since 2000, he has been appointed as university professor and director of the department of Mechanism and Machine Dynamics of RWTH Aachen University. The research interests of Prof. Dr. Corves include kinematics and dynamics of mechanisms and robots.

Author Articles
Zero-Moment Point-Based Biped Robot with Different Walking Patterns

By Hayder F. N. Al-Shuka Burkhard J. Corves Bram Vanderborght Wen-Hong Zhu

DOI: https://doi.org/10.5815/ijisa.2015.01.03, Pub. Date: 8 Dec. 2014

This paper addresses three issues of motion planning for zero-moment point (ZMP)-based biped robots. First, three methods have been compared for smooth transition of biped locomotion from the single support phase (SSP) to the double support phase (DSP) and vice versa. All these methods depend on linear pendulum mode (LPM) to predict the trajectory of the center of gravity (COG) of the biped. It has been found that the three methods could give the same motion of the COG for the biped. The second issue is investigation of the foot trajectory with different walking patterns especially during the DSP. The characteristics of foot rotation can improve the stability performance with uniform configurations. Last, a simple algorithm has been proposed to compensate for ZMP deviations due to approximate model of the LPM. The results show that keeping the stance foot flat at beginning of the DSP is necessary for balancing the biped robot.

[...] Read more.
Other Articles