ZMP disturbance observer for walking stabilization of biped robot

Tomoya Sato, Kouhei Ohnishi

研究成果: Conference contribution

27 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
ページ290-295
ページ数6
DOI
出版物ステータスPublished - 2008 12 1
イベント10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
継続期間: 2008 3 262008 3 28

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC
1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
Italy
Trento
期間08/3/2608/3/28

ASJC Scopus subject areas

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

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  • これを引用

    Sato, T., & Ohnishi, K. (2008). ZMP disturbance observer for walking stabilization of biped robot. : AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings (pp. 290-295). [4516081] (International Workshop on Advanced Motion Control, AMC; 巻数 1). https://doi.org/10.1109/AMC.2008.4516081