ZMP disturbance observer for walking stabilization of biped robot
ZMP disturbance observer for walking stabilization of biped robot
复制标题
用于双足机器人行走稳定的ZMP扰动观测器
DOI：
10.1541/ieejias.130.283
复制
发表时间：
2008
期刊：
影响因子：
--
通讯作者：
K. Ohnishi
中科院分区：
文献类型：
--
作者：
T. Sato;K. Ohnishi
本文提出了一种用于机器人步行稳定的零力矩点干扰观测器。对ZMP的干扰被定义为“ZMP干扰”。ZMP扰动由建模误差和外力组成。ZMP扰动观测器基于频带划分ZMP扰动，并应用位置补偿方法和加速度补偿方法。ZMP扰动观测器对ZMP扰动是有效的，对机器人的步行稳定是有用的。此外，提出了一种将重心轨迹补偿转换为身体轨迹补偿的方法。仿真和实验验证了该方法的有效性。
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.