2足歩行ロボットの歩行安定化のためのZMP外乱オブザーバの一設計法

抄録

This paper proposes a design method of zero-moment point (ZMP) disturbance observer for walking stabilization of biped robots. A parameter design method for the filter required in the ZMP disturbance observer is proposed for performance improvement, and a variable compliance controller is introduced for impact reduction during landing. The validity of the proposed method was confirmed by simulations and experiments.