Parameter design for ZMP disturbance observer of biped robot

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.