Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation

Zhangguo Yu; Maoxing Zheng; Qinqin Zhou; Xuechao Chen; Libo Meng; Weimin Zhang; Aiguo Ming; Qiang Huang

doi:10.1007/978-3-319-33714-2_20

Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation

Zhangguo Yu^*, Maoxing Zheng, Qinqin Zhou, Xuechao Chen, Libo Meng, Weimin Zhang, Aiguo Ming, Qiang Huang

^*此作品的通讯作者

机电学院

科研成果: 书/报告/会议事项章节 › 章节 › 同行评审

3 引用（Scopus）

摘要

This paper proposes a disturbance rejection controller using real-time ZMP (Zero Moment Point) regulation which could maintain the stable walk of a humanoid robot when the robot is subjected to external disturbances. The controller detects the disturbance by an accelerometer, and computes the ZMP increment to overcome disturbance to ensure stability, and then calculate the increment of trajectory of center of mass according to ZMP increment using preview control. The effectiveness of our proposed method was confirmed by simulation in ADAMS and walking experiment on an actual humanoid robot, BHR-5.

源语言	英语
主期刊名	CISM International Centre for Mechanical Sciences, Courses and Lectures
出版商	Springer International Publishing
页	179-188
页数	10
DOI	https://doi.org/10.1007/978-3-319-33714-2_20
出版状态	已出版 - 2016

出版系列

姓名	CISM International Centre for Mechanical Sciences, Courses and Lectures
卷	569
ISSN（印刷版）	0254-1971
ISSN（电子版）	2309-3706

访问文件

10.1007/978-3-319-33714-2_20

其它文件与链接

链接到 Scopus 的出版物

引用此

Yu, Z., Zheng, M., Zhou, Q., Chen, X., Meng, L., Zhang, W., Ming, A., & Huang, Q. (2016). Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation. 在 CISM International Centre for Mechanical Sciences, Courses and Lectures (页码 179-188). (CISM International Centre for Mechanical Sciences, Courses and Lectures; 卷 569). Springer International Publishing. https://doi.org/10.1007/978-3-319-33714-2_20

@inbook{905a5e82a26d4751bde30cf21a49ff1a,

title = "Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation",

abstract = "This paper proposes a disturbance rejection controller using real-time ZMP (Zero Moment Point) regulation which could maintain the stable walk of a humanoid robot when the robot is subjected to external disturbances. The controller detects the disturbance by an accelerometer, and computes the ZMP increment to overcome disturbance to ensure stability, and then calculate the increment of trajectory of center of mass according to ZMP increment using preview control. The effectiveness of our proposed method was confirmed by simulation in ADAMS and walking experiment on an actual humanoid robot, BHR-5.",

keywords = "Biped Robot, Humanoid Robot, Inverted Pendulum, Preview Control, Zero Moment Point",

author = "Zhangguo Yu and Maoxing Zheng and Qinqin Zhou and Xuechao Chen and Libo Meng and Weimin Zhang and Aiguo Ming and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2016, CISM International Centre for Mechanical Sciences.",

year = "2016",

doi = "10.1007/978-3-319-33714-2_20",

language = "English",

series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",

publisher = "Springer International Publishing",

pages = "179--188",

booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",

address = "Switzerland",

}

Yu, Z, Zheng, M, Zhou, Q, Chen, X, Meng, L, Zhang, W, Ming, A & Huang, Q 2016, Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation. 在 CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, 卷 569, Springer International Publishing, 页码 179-188. https://doi.org/10.1007/978-3-319-33714-2_20

Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation. / Yu, Zhangguo; Zheng, Maoxing; Zhou, Qinqin 等.
CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2016. 页码 179-188 (CISM International Centre for Mechanical Sciences, Courses and Lectures; 卷 569).

科研成果: 书/报告/会议事项章节 › 章节 › 同行评审

TY - CHAP

T1 - Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation

AU - Yu, Zhangguo

AU - Zheng, Maoxing

AU - Zhou, Qinqin

AU - Chen, Xuechao

AU - Meng, Libo

AU - Zhang, Weimin

AU - Ming, Aiguo

AU - Huang, Qiang

PY - 2016

Y1 - 2016

N2 - This paper proposes a disturbance rejection controller using real-time ZMP (Zero Moment Point) regulation which could maintain the stable walk of a humanoid robot when the robot is subjected to external disturbances. The controller detects the disturbance by an accelerometer, and computes the ZMP increment to overcome disturbance to ensure stability, and then calculate the increment of trajectory of center of mass according to ZMP increment using preview control. The effectiveness of our proposed method was confirmed by simulation in ADAMS and walking experiment on an actual humanoid robot, BHR-5.

AB - This paper proposes a disturbance rejection controller using real-time ZMP (Zero Moment Point) regulation which could maintain the stable walk of a humanoid robot when the robot is subjected to external disturbances. The controller detects the disturbance by an accelerometer, and computes the ZMP increment to overcome disturbance to ensure stability, and then calculate the increment of trajectory of center of mass according to ZMP increment using preview control. The effectiveness of our proposed method was confirmed by simulation in ADAMS and walking experiment on an actual humanoid robot, BHR-5.

KW - Biped Robot

KW - Humanoid Robot

KW - Inverted Pendulum

KW - Preview Control

KW - Zero Moment Point

UR - http://www.scopus.com/inward/record.url?scp=85040606302&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-33714-2_20

DO - 10.1007/978-3-319-33714-2_20

M3 - Chapter

AN - SCOPUS:85040606302

T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures

SP - 179

EP - 188

BT - CISM International Centre for Mechanical Sciences, Courses and Lectures

PB - Springer International Publishing

ER -

Yu Z, Zheng M, Zhou Q, Chen X, Meng L, Zhang W 等. Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation. 在 CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing. 2016. 页码 179-188. (CISM International Centre for Mechanical Sciences, Courses and Lectures). doi: 10.1007/978-3-319-33714-2_20

Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation

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