Using the Torso to Compensate for Non-Minimum Phase Behaviour in ZMP Bipedal Walking

Dallali, Houman and Brown, Martin and Vanderborght, Bram (2009) Using the Torso to Compensate for Non-Minimum Phase Behaviour in ZMP Bipedal Walking. In: Advances in Robotics Research: Theory, Implementation, Application. Springer-Verlag, Heidelberg, pp. 191-202. ISBN 978-3-642-01212-9

[thumbnail of GWR09.pdf] PDF
Restricted to Registered users only

Download (690kB)


In Zero Moment Point (ZMP) bipedal walking, the conventional method is to use the cart-table model for generating the reference trajectory [1]. However, due to modeling and tracking errors and external disturbances, such as uneven terrain, the generated trajectorymust be adapted by a stabilizer that uses sensory inputs from force and torque sensors placed in the robot’s feet. The problem with the carttable model is that it is non-minimum phase which causes a significant, undesirable undershoot in the ZMP in order to cancel the effect of disturbances. In this paper, a novel scheme is proposed for ZMP feedback stabilization that utilizes the upper body to balance the humanoid robot. This method increases the performance and robustness of walking by reducing the undershoot and maintaining a desired bandwidth. The effectiveness of the proposed scheme is demonstrated using simulation and open problems are discussed.

Item Type: Book Section
Uncontrolled Keywords: CICADA
Subjects: MSC 2010, the AMS's Mathematics Subject Classification > 00 General
Depositing User: Mr Houman Dallali
Date Deposited: 17 Jun 2010
Last Modified: 20 Oct 2017 14:12

Actions (login required)

View Item View Item