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

Tomoya Sato; Sho Sakaino; Kouhei Ohnishi

doi:10.1541/ieejias.130.283

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

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

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 language	English
Pages (from-to)	283-292+4
Journal	ieej transactions on industry applications
Volume	130
Issue number	3
DOIs	https://doi.org/10.1541/ieejias.130.283
Publication status	Published - 2010 Apr 23

Keywords

Biped robot
Control
Walking stabilization
ZMP

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

Access to Document

10.1541/ieejias.130.283

Cite this

@article{f9efe146a9544d87ba704a784d99674e,

title = "Design method of ZMP disturbance observer for walking stabilization of biped robot",

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.",

keywords = "Biped robot, Control, Walking stabilization, ZMP",

author = "Tomoya Sato and Sho Sakaino and Kouhei Ohnishi",

year = "2010",

month = apr,

day = "23",

doi = "10.1541/ieejias.130.283",

language = "English",

volume = "130",

pages = "283--292+4",

journal = "IEEJ Transactions on Industry Applications",

issn = "0913-6339",

publisher = "The Institute of Electrical Engineers of Japan",

number = "3",

}

TY - JOUR

T1 - Design method of ZMP disturbance observer for walking stabilization of biped robot

AU - Sato, Tomoya

AU - Sakaino, Sho

AU - Ohnishi, Kouhei

PY - 2010/4/23

Y1 - 2010/4/23

N2 - 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.

AB - 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.

KW - Biped robot

KW - Control

KW - Walking stabilization

KW - ZMP

UR - http://www.scopus.com/inward/record.url?scp=77951084141&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77951084141&partnerID=8YFLogxK

U2 - 10.1541/ieejias.130.283

DO - 10.1541/ieejias.130.283

M3 - Article

AN - SCOPUS:77951084141

SN - 0913-6339

VL - 130

SP - 283-292+4

JO - IEEJ Transactions on Industry Applications

JF - IEEJ Transactions on Industry Applications

IS - 3

ER -

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

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this