Parameter design for ZMP disturbance observer of biped robot

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 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 languageEnglish
Title of host publicationProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Pages1650-1655
Number of pages6
DOIs
Publication statusPublished - 2008
Event34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL, United States
Duration: 2008 Nov 102008 Nov 13

Other

Other34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
CountryUnited States
CityOrlando, FL
Period08/11/1008/11/13

Fingerprint

Robots
Cutoff frequency
Stabilization
Experiments
Compensation and Redress

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

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 (pp. 1650-1655). [4758201] https://doi.org/10.1109/IECON.2008.4758201

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. 2008. p. 1650-1655 4758201.

Research output: Chapter in Book/Report/Conference proceedingConference 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, 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
Sato T, Sakaino S, Ohnishi K. Parameter design for ZMP disturbance observer of biped robot. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. p. 1650-1655. 4758201 https://doi.org/10.1109/IECON.2008.4758201
Sato, Tomoya ; Sakaino, Sho ; Ohnishi, Kouhei. / Parameter design for ZMP disturbance observer of biped robot. Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. pp. 1650-1655
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