ZMP disturbance observer for walking stabilization of biped robot

Tomoya Sato, Kouhei Ohnishi

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

27 Citations (Scopus)

Abstract

In this paper, a ZMP (Zero-Moment Point) disturbance observer for walking stabilization of the biped robot is proposed. The disturbance to a ZMP is defined as a "ZMP disturbance". The ZMP disturbance is composed of a modeling error and external force. The ZMP disturbance observer divides the ZMP disturbance based on the frequency band, and applies a position compensation method and an acceleration compensation method. The ZMP disturbance observer is effective to the ZMP disturbance, and useful for the walking stabilization of the biped robot. Additionally a method of converting the compensation to a COG (Center of Gravity) trajectory into the compensation to a body trajectory is proposed. The validity of the proposed method was confirmed in the simulations and the experiments.

Original languageEnglish
Title of host publicationAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
Pages290-295
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Publication series

NameInternational Workshop on Advanced Motion Control, AMC
Volume1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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