Parameter design for ZMP disturbance observer of biped robot

Tomoya Sato; Sho Sakaino; Kouhei Ohnishi

doi:10.1109/IECON.2008.4758201

Parameter design for ZMP disturbance observer of biped robot

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

14 Citations (Scopus)

Abstract

In this paper, a parameter design for ZMP (Zero-Moment Point) disturbance observer of biped robots is proposed. ZMP disturbance observer is used for the walking stabilization of biped robots. A decision method of six parameters is based on the stability and the performance. Relation between the parameters and the performance is shown. Gains of the position compensation and the acceleration compensation are decided. Additionally cutoff frequencies of filters are decided. Characteristics of ZMP disturbance observer are shown. The validity of the proposed parameter design was confirmed by the simulations and the experiments.

Original language	English
Title of host publication	Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Publisher	IEEE Computer Society
Pages	1650-1655
Number of pages	6
ISBN (Print)	9781424417667
DOIs	https://doi.org/10.1109/IECON.2008.4758201
Publication status	Published - 2008 Jan 1
Event	34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL, United States Duration: 2008 Nov 10 → 2008 Nov 13

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Country/Territory	United States
City	Orlando, FL
Period	08/11/10 → 08/11/13

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2008.4758201

Cite this

Parameter design for ZMP disturbance observer of biped robot. / Sato, Tomoya; Sakaino, Sho; Ohnishi, Kouhei.
Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. IEEE Computer Society, 2008. p. 1650-1655 4758201 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sato, T, Sakaino, S & Ohnishi, K 2008, Parameter design for ZMP disturbance observer of biped robot. in Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008., 4758201, IECON Proceedings (Industrial Electronics Conference), IEEE Computer Society, pp. 1650-1655, 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008, Orlando, FL, United States, 08/11/10. https://doi.org/10.1109/IECON.2008.4758201

@inproceedings{d57a7980335847498d3eaa32df14cc8f,

title = "Parameter design for ZMP disturbance observer of biped robot",

abstract = "In this paper, a parameter design for ZMP (Zero-Moment Point) disturbance observer of biped robots is proposed. ZMP disturbance observer is used for the walking stabilization of biped robots. A decision method of six parameters is based on the stability and the performance. Relation between the parameters and the performance is shown. Gains of the position compensation and the acceleration compensation are decided. Additionally cutoff frequencies of filters are decided. Characteristics of ZMP disturbance observer are shown. The validity of the proposed parameter design was confirmed by the simulations and the experiments.",

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

year = "2008",

month = jan,

day = "1",

doi = "10.1109/IECON.2008.4758201",

language = "English",

isbn = "9781424417667",

series = "IECON Proceedings (Industrial Electronics Conference)",

publisher = "IEEE Computer Society",

pages = "1650--1655",

booktitle = "Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008",

note = "34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 ; Conference date: 10-11-2008 Through 13-11-2008",

}

TY - GEN

T1 - Parameter design for ZMP disturbance observer of biped robot

AU - Sato, Tomoya

AU - Sakaino, Sho

AU - Ohnishi, Kouhei

PY - 2008/1/1

Y1 - 2008/1/1

N2 - In this paper, a parameter design for ZMP (Zero-Moment Point) disturbance observer of biped robots is proposed. ZMP disturbance observer is used for the walking stabilization of biped robots. A decision method of six parameters is based on the stability and the performance. Relation between the parameters and the performance is shown. Gains of the position compensation and the acceleration compensation are decided. Additionally cutoff frequencies of filters are decided. Characteristics of ZMP disturbance observer are shown. The validity of the proposed parameter design was confirmed by the simulations and the experiments.

AB - In this paper, a parameter design for ZMP (Zero-Moment Point) disturbance observer of biped robots is proposed. ZMP disturbance observer is used for the walking stabilization of biped robots. A decision method of six parameters is based on the stability and the performance. Relation between the parameters and the performance is shown. Gains of the position compensation and the acceleration compensation are decided. Additionally cutoff frequencies of filters are decided. Characteristics of ZMP disturbance observer are shown. The validity of the proposed parameter design was confirmed by the simulations and the experiments.

UR - http://www.scopus.com/inward/record.url?scp=63149165902&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=63149165902&partnerID=8YFLogxK

U2 - 10.1109/IECON.2008.4758201

DO - 10.1109/IECON.2008.4758201

M3 - Conference contribution

AN - SCOPUS:63149165902

SN - 9781424417667

T3 - IECON Proceedings (Industrial Electronics Conference)

SP - 1650

EP - 1655

BT - Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008

PB - IEEE Computer Society

T2 - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008

Y2 - 10 November 2008 through 13 November 2008

ER -

Parameter design for ZMP disturbance observer of biped robot

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this