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Improving ZMP-based control model using system identification techniques

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4 Author(s)
Wael Suleiman ; CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/CRT, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Ibaraki, 305-8568 Japan ; Fumio Kanehiro ; Kanako Miura ; Eiichi Yoshida

The approximation of humanoid robot by an inverted pendulum is one of the most used model to generate a stable motion using a planned Zero Moment Point (ZMP) trajectory. In this paper, we aim at proposing to improve the reliability of this model using system identification techniques. To achieve this goal, we propose an identification method which is the result of the comprehensive application of system identification to dynamic systems. Moreover, we propose a controlling algorithm for the identified model in oder to track a desired trajectory of ZMP. The efficiency of the method is shown using dynamical simulation and conducting real experiments on the humanoid robot HRP-4C.

Published in:

2009 9th IEEE-RAS International Conference on Humanoid Robots

Date of Conference:

7-10 Dec. 2009