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
Pages (from-to)283-292+4
Journalieej transactions on industry applications
Volume130
Issue number3
DOIs
Publication statusPublished - 2010 Apr 23

Keywords

  • Biped robot
  • Control
  • Walking stabilization
  • ZMP

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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