Wen-Hong Zhu

Work place: Canadian Space Agency, Canada

E-mail: Wen-Hong.Zhu@asc-csa.gc.ca


Research Interests:


Dr. W.H. Zhu is an engineering technical officer at the Canadian Space Agency. His specialty is on precision control of complex robotic systems characterized by his book entitled Virtual Decomposition Control published by Springer-Verlag in its STAR series. Dr. Zhu also published 60+ papers in leading international journals and conference proceedings.

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.

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