Disturbance rejection by online ZMP compensation

被引：46
|
作者：
Prahlad, Vadakkepat [1 ]
Dip, Goswami [1 ]
Meng-Hwee, Chia [1 ]
机构：
[1] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore
来源：
ROBOTICA | 2008年 / 26卷
关键词：
biped locomotion; humanoid; Zero-Moment-Point; compensation;
D O I：
10.1017/S0263574707003542
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A novel method of Zero-Moment-Point (ZMP) compensation is proposed to improve the stability of locomotion of a biped, which 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 comers 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 degrees slope and walked down a 3 degrees slope.
引用
收藏
页码：9 / 17
页数：9
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