NDLI: Disturbance rejection by online ZMP compensation

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Disturbance rejection by online ZMP compensation

Content Provider	Scilit
Author	Prahlad, Vadakkepat Dip, Goswami Meng-Hwee, Chia
Copyright Year	2008
Description	SUMMARY 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.
Related Links	http://pdfs.semanticscholar.org/9a82/e94e394d8c58d9068e17744635e358f88e20.pdf https://www.cambridge.org/core/services/aop-cambridge-core/content/view/F8C572A413A7D2FDBB49FA5A0F267898/S0263574707003542a.pdf/div-class-title-disturbance-rejection-by-online-zmp-compensation-div.pdf
ISSN	02635747
e-ISSN	14698668
DOI	10.1017/s0263574707003542
Journal	Robotica
Issue Number	1
Volume Number	26
Language	English
Publisher	Cambridge University Press (CUP)
Publisher Date	2008-01-01
Access Restriction	Open
Subject Keyword	Robotica Biped Locomotion point Compensation
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software

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