A ZMP-compensation method based on pole-zero cancellation for biped robots

Shuhei Shimmyo, Kouhei Ohnishi

Research output: Contribution to journalArticle

Abstract

This paper proposes a ZMP-compensation method based on pole-zero cancellation for biped robots. Conventionally, walking stabilization controls is achieved by using the feedback of ZMP error. In these systems, several feedback gains need to be determined, and this is done by using the optimal control theory or the pole-placement method. In the proposed method, only one feedback gain needs to be determined. Therefore, the proposed method makes it easy to design a walking stabilization controller. The effectiveness of the proposed method is confirmed from the results of simulations and experiments.

Original languageEnglish
Pages (from-to)4+1067-1074
Journalieej transactions on industry applications
Volume130
Issue number9
Publication statusPublished - 2010 Nov 9

Keywords

  • Biped robot
  • Pole-zero cancellation
  • Stabilization control
  • ZMP

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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