Title :
Parameter design for ZMP disturbance observer of biped robot
Author :
Sato, Tomoya ; Sakaino, Sho ; Ohnishi, Kouhei
Author_Institution :
Dept. of Syst. Design Eng., Keio Univ., Yokohama
Abstract :
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.
Keywords :
compensation; control system synthesis; legged locomotion; observers; poles and zeros; stability; ZMP disturbance observer; acceleration compensation; biped robot; decision method; parameter design; position compensation; walking stabilization; zero-moment point; Acceleration; Cutoff frequency; Design engineering; Filters; Frequency estimation; Leg; Legged locomotion; Robot control; Stability; Torque;
Conference_Titel :
Industrial Electronics, 2008. IECON 2008. 34th Annual Conference of IEEE
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-4244-1767-4
Electronic_ISBN :
1553-572X
DOI :
10.1109/IECON.2008.4758201