TY - GEN
T1 - Parameter design for ZMP disturbance observer of biped robot
AU - Sato, Tomoya
AU - Sakaino, Sho
AU - Ohnishi, Kouhei
PY - 2008/1/1
Y1 - 2008/1/1
N2 - 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.
AB - 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.
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U2 - 10.1109/IECON.2008.4758201
DO - 10.1109/IECON.2008.4758201
M3 - Conference contribution
AN - SCOPUS:63149165902
SN - 9781424417667
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1650
EP - 1655
BT - Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
PB - IEEE Computer Society
T2 - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Y2 - 10 November 2008 through 13 November 2008
ER -