Disturbance rejection by online zmp compensation

Authors:
Vadakkepat Prahlad;Goswami Dip;Chia Meng-hwee
Affiliations:
Department of electrical and computer engineering, national university of singapore, singapore 117576;Department of electrical and computer engineering, national university of singapore, singapore 117576;Department of electrical and computer engineering, national university of singapore, singapore 117576
Venue:
Robotica
Year:
2008

Citing 5
Cited 7

Passive dynamic walking

International Journal of Robotics Research
Biped Locomotion

Biped Locomotion
Control of walking robots based on manipulation of the zero moment point

Robotica
A real-time joint trajectory planner for dynamic walking bipeds in the sagittal plane

Robotica
Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts

International Journal of Robotics Research

Genetic algorithm-based optimal bipedal walking gait synthesis considering tradeoff between stability margin and speed

Robotica
Soccer playing humanoid robots: Processing architecture, gait generation and vision system

Robotics and Autonomous Systems
Tip over avoidance control for biped robot

Robotica
Planar bipedal jumping gaits with stable landing

IEEE Transactions on Robotics
ZMP trajectory reference for the sagittal plane control of a biped robot based on a human CoP and gait

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A biped static balance control and torque pattern learning under unknown periodic external forces

Engineering Applications of Artificial Intelligence
Detection of gait perturbations based on proprioceptive information. Application to Limit Cycle Walkers

Applied Bionics and Biomechanics - Human-Robot Interaction/Interface

Quantified Score

Hi-index	0.00

Visualization

Abstract

A novel method of Zero-Moment-Point (ZMP) compensation is proposed to improve the stability of locomotion of a biped, which is subjected to disturbances. A compensating torque is injected into the ankle-joint of the foot of the robot to improve stability. The value of the compensating torque is computed from the reading of the force sensors located at the four corners of each foot. The effectiveness of the method is verified on a humanoid robot, MANUS-I. With the compensation technique, the robot successfully rejected disturbances in different forms. It carried an additional weight of 390 gm (17% of body weight) while walking. Also, it walked up a 10° slope and walked down a 3° slope.