Design method of ZMP disturbance observer for walking stabilization of biped robot

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

研究成果: Article

2 引用 (Scopus)

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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.

元の言語English
ページ(範囲)283-292+4
ジャーナルieej transactions on industry applications
130
発行部数3
DOI
出版物ステータスPublished - 2010 4 23

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ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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