Bram Vanderborght

Work place: Department of Mechanical Engineering, Vrije Universiteit Brussel, Belgium



Research Interests: Robotics


Prof. dr. ir. Bram Vanderborght received the degree in the study of Mechanical Engineering at the Vrije Universiteit Brussel in 2003. In May 2007 he received his PhD in Applied Science. The focus of his research was the use of adaptable compliance of pneumatic artificial muscles in the dynamically balanced biped Lucy. In May-June 2006 he performed research on the humanoids robot HRP-2 at the Joint Japanese/French Robotics Laboratory (JRL) in AIST, Tsukuba (Japan). From October 2007-April 2010 he worked as post-doc researcher at IIT (Italy) on locomotion and compliant actuation. Since October 2009, he has been appointed as professor at the VUB. He is member of the Young Academy of the Royal Flemish Academy of Belgium for Science and the Arts. His research interests includes cognitive and physical human robot interaction, robot assisted therapy, humanoids and rehabilitation robotics with core technology of using variable impedance actuators.

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:, 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.

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