抄録
Although the research about a legged type robot’s ZMP (Zero Moment Point) had many examples of research in the past, in those researches, main subjects are that the solution could not be really obtained 1 by 1. It is because redundancy is in the solution by the model of a multi-link system like a legged type robot. In this paper, formulas RHC(Receding Horizon Control) equal constraints are added, and it proposes about the method of controlling ZMP on real time. The proposed technique can generate the reference trajectory of ZMP on real time. As for formulization, both of simulation results are described a 2-dimensional plane and in the 3-dimensional space. This technique is easily biped, quadruped, and the legged robot of other types applicable.
