ZMP disturbance observer for walking stabilization of biped robot

Tomoya Sato, Kouhei Ohnishi

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

24 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 publicationInternational Workshop on Advanced Motion Control, AMC
Pages290-295
Number of pages6
Volume1
DOIs
Publication statusPublished - 2008
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Other

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

Fingerprint

Biped Robot
Disturbance Observer
Stabilization
Robots
Moment
Zero
Disturbance
Trajectories
Frequency bands
Gravitation
Trajectory
Centre of gravity
Modeling Error
Compensation and Redress
Divides
Experiments

ASJC Scopus subject areas

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

Cite this

Sato, T., & Ohnishi, K. (2008). ZMP disturbance observer for walking stabilization of biped robot. In International Workshop on Advanced Motion Control, AMC (Vol. 1, pp. 290-295). [4516081] https://doi.org/10.1109/AMC.2008.4516081

ZMP disturbance observer for walking stabilization of biped robot. / Sato, Tomoya; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. p. 290-295 4516081.

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

Sato, T & Ohnishi, K 2008, ZMP disturbance observer for walking stabilization of biped robot. in International Workshop on Advanced Motion Control, AMC. vol. 1, 4516081, pp. 290-295, 10th International Workshop on Advanced Motion Control, AMC'08, Trento, Italy, 08/3/26. https://doi.org/10.1109/AMC.2008.4516081
Sato T, Ohnishi K. ZMP disturbance observer for walking stabilization of biped robot. In International Workshop on Advanced Motion Control, AMC. Vol. 1. 2008. p. 290-295. 4516081 https://doi.org/10.1109/AMC.2008.4516081
Sato, Tomoya ; Ohnishi, Kouhei. / ZMP disturbance observer for walking stabilization of biped robot. International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. pp. 290-295
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