Unknown disturbance compensation control for a biped walking vehicle

This paper describes how to compensate unknown external forces caused by a rider´s motion of a biped walking vehicle. When external forces act on a robot´s waist, the waist is accelerated so that a measured ZMP may be equal to a reference ZMP. To inhibit the divergence of the waist motion, the reference ZMP is varied inside a support polygon. However, if a large external force acts on a robot, the waist trajectory does not converge by only controlling a reference ZMP. So, ZMP trajectory is varied by changing a foot-landing point. Using the proposed control method, WL-16RIV (Waseda Leg-No. 16 Refined IV) achieved a stable human-carrying walking under unknown external forces which exert forward and sideways on the robot´s waist. Through various walking experiments, the effectiveness of the proposed method was confirmed.