IEEE - Institute of Electrical and Electronics Engineers, Inc. - Parameter design for ZMP disturbance observer of biped robot

IECON 2008 - 34th Annual Conference of IEEE Industrial Electronics Society

Author(s): T. Sato ; S. Sakaino ; K. Ohnishi
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2008
Conference Location: Orlando, FL, USA
Conference Date: 10 November 2008
Page(s): 1,650 - 1,655
ISBN (CD): 978-1-4244-1766-7
ISBN (Paper): 978-1-4244-1767-4
ISSN (Paper): 1553-572X
DOI: 10.1109/IECON.2008.4758201
Regular:

In this paper, a parameter design for ZMP (Zero-Moment Point) disturbance observer of biped robots is proposed. ZMP disturbance observer is used for the walking stabilization of biped robots. A... View More

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