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Disturbance rejection by online ZMP compensation

Published online by Cambridge University Press:  01 January 2008

Vadakkepat Prahlad ,
Goswami Dip  and
Chia Meng-Hwee
Vadakkepat Prahlad*
Affiliation:
Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576
Goswami Dip
Affiliation:
Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576
Chia Meng-Hwee
Affiliation:
Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576
*
*Corresponding author. E-mail: prahlad@ieee.org
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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.

Keywords

Biped locomotionHumanoidZero-Moment-Point compensation
Type
Article
Information
Robotica , Volume 26 , Issue 1 , January 2008 , pp. 9 - 17
Copyright
Copyright © Cambridge University Press 2007

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