IEEJ Transactions on Industry Applications
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
A Neural Oscillatory Network Approach to the Biped Walking Pattern Generation Considering ZMP Condition
Meifen CaoAtsuo Kawamura
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Keywords: Zero Moment Point
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1999 Volume 119 Issue 6 Pages 873-879

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Abstract

This paper presents a new scheme for the design of a neural oscillatory network which can be used to generate desired walking pattern trajectories considering ZMP (Zero Moment Point) conditions. The scheme is based on evolutionary computation concepts and has advantages in simplicity, flexibility and high calculation speed. The scheme proved to be effective with the results of simulations.

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© The Institute of Electrical Engineers of Japan
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