Abstract:
This paper proposes the indirect zero momentum position (ZMP) controller for biped robot systems and proves its disturbance input-to-state stability (ISS). The ZMP contro...Show MoreMetadata
Abstract:
This paper proposes the indirect zero momentum position (ZMP) controller for biped robot systems and proves its disturbance input-to-state stability (ISS). The ZMP control has been used as a standard method for stable walking control of biped robot systems. Since the ZMP information consists of position and acceleration of the center of gravity (COG) for a biped robot system, the ZMP can be indirectly controlled by the motion of COG. In this paper, the reference COG planner is developed by solving the reference ZMP differential equation. The indirect ZMP controller is proposed to derive the desired motion of COG from the reference ZMP trajectory and the COG error (the difference between the reference and real COG). The ISS of the proposed indirect ZMP controller is proved for the simplified biped robot model. The robustness of the proposed indirect ZMP controller is shown in simulation.
Published in: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
Date of Conference: 28 September 2004 - 02 October 2004
Date Added to IEEE Xplore: 14 February 2005
Print ISBN:0-7803-8463-6
References is not available for this document.
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1.
S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Yokoi, and H. Hirukawa, "A realtime pattern generator for biped walking," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 31-37, 2002.
2.
A. Takanishi, H. Lim, M. Tsuda, and I. Kato, "Realization of dynamic biped walking stabilized by trunk motion on a sagittally uneven surface," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 323-330, 1990.
3.
S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, "Biped walking pattern generation by using preview control of zero-moment point," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1620-1626, 2003.
4.
T. Sugihara, Y. Nakamura, and H. Inoue, "Realtime humanoid motion generation through ZMP manipulation based on inverted pendulum control," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1404-1409, 2002.
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J. H. Park, "Impedance control for biped robot locomotion," IEEE Trans. on Robotics and Automation, vol. 17, no. 6, pp. 870-882, Dec. 2001.
6.
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S. Kajita, T. Nagasaki, K. Yokoi, K. Kaneko, and K. Tanie, "Running pattern generation for a humanoid robot," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2755-2761, 2002.
8.
T. Nagasaki, S. Kajita, K. Yokoi, K. Kaneko, and K. Tanie, "Running pattern generation and its evaluation using a realistic humanoid model," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1336-1342, 2003.
9.
S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, "Resolved momentum control: Humanoid motion planning based on the linear and angular momentum," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1644-1650, 2003.
10.
K. Harada, S. Kajita, K. Kaneko, and H. Hirukawa, "ZMP analysis for arm/leg coordination," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 75-81, 2003.
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J. W. Grizzle, E. R. Westervelt, and C. Canudas de Wit, "Event-based PI control of a underactuated biped walker," Proc., 42nd IEEE Conf. on Decision and Control, pp. 3091-3096, 2003.
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Y. Choi and W. K. Chung, PID Trajectory Tracking Control for Mechanical Systems, vol. 298 of Lecture Notes in Control and Information Sciences (LNCIS), Springer Publishing Co., 2004.
