ZMP disturbance observer for walking stabilization of biped robot

Tomoya Sato, Kouhei Ohnishi

研究成果: Conference contribution

30 被引用数 (Scopus)

抄録

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.

本文言語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
出版ステータスPublished - 2008
外部発表はい
イベント10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
継続期間: 2008 3月 262008 3月 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
国/地域Italy
CityTrento
Period08/3/2608/3/28

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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