抄録
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.
| 本文言語 | English |
|---|---|
| ページ（範囲） | 283-292+4 |
| ジャーナル | ieej transactions on industry applications |
| 巻 | 130 |
| 号 | 3 |
| DOI | |
| 出版ステータス | Published - 2010 4月 23 |
ASJC Scopus subject areas
- 産業および生産工学
- 電子工学および電気工学