안정성 여유를 고려한 다관절 해저로봇의 ZMP 보행

Abstract

This paper introduces a gait algorithm using Zero Moment Point(ZMP) for multi-legged underwater robot that surveys to creep on the seafloor. ZMP gait is the algorithm in which the body follows ZMP and it is designed based on stability margin. The stability margin of ZMP is defined that minimum distance between edge of support polygon and Center of Gravity(COG) as a criterion for dynamic stability analysis. The ZMP analysis is performed using Linear Inverted Pendulum Model(LIPM) and find the stable position that moment of the robot body is zero. The ZMP gait is implement based on discontinuous gait of Crabster with tripod, tetrapod, and pentapod gait and alteration of the stability margin are compared between the ZMP gait and the discontinuous gait.n. The stability margin of ZMP is defined that minimum distance between edge of support polygon and Center of Gravity(COG) as a criterion for dynamic stability analysis. The ZMP analysis is performed using Linear Inverted Pendulum Model(LIPM) and find the stable position that moment of the robot body is zero. The ZMP gait is implement based on discontinuous gait of Crabster with tripod, tetrapod, and pentapod gait and alteration of the stability margin are compared between the ZMP gait and the discontinuous gait.