Walking stabilization control using virtual plane method for biped robots

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review


In this paper, a method for walking stabilization control using a virtual plane method for up-down motion of biped robots is proposed. In the case of the up-down motion in whitch the height of the center of gravity (COG) is not constant, the Zero-Moment Point (ZMP) equation that shows the relation between the ZMP and the COG becomes linear time-variant. Using the proposed method, the ZMP equation is transformed into linear time-invariant. Therefore, the frequency analysis and parameter design of the walking stabilization control can be implemented easily even in the up-down motion. The validity of the proposed method was confirmed by some simulations and experiments.

Original languageEnglish
Pages (from-to)685-691+14
Journalieej transactions on industry applications
Issue number5
Publication statusPublished - 2010 Jun 22


  • Biped robot
  • Virtual plane
  • Walking stabilization control
  • ZMP

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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