Design method of ZMP disturbance observer for walking stabilization of biped robot

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

This paper proposes a design method of zero-moment point (ZMP) disturbance observer for walking stabilization of biped robots. A parameter design method for the filter required in the ZMP disturbance observer is proposed for performance improvement, and a variable compliance controller is introduced for impact reduction during landing. The validity of the proposed method was confirmed by simulations and experiments.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume130
Issue number3
DOIs
Publication statusPublished - 2010

Fingerprint

Stabilization
Robots
Landing
Controllers
Experiments
Compliance

Keywords

  • Biped robot
  • Control
  • Walking stabilization
  • ZMP

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Design method of ZMP disturbance observer for walking stabilization of biped robot. / Sato, Tomoya; Sakaino, Sho; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 130, No. 3, 2010.

Research output: Contribution to journalArticle

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