Parameter design for ZMP disturbance observer of biped robot

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

研究成果: Conference contribution

14 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
出版社IEEE Computer Society
ページ1650-1655
ページ数6
ISBN(印刷版)9781424417667
DOI
出版ステータスPublished - 2008 1 1
イベント34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL, United States
継続期間: 2008 11 102008 11 13

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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