Motion Stabilization by Using Laser Distance Sensor for Biped Walking Robot with Flexible Ankle Joints

Abstract

This paper describes an approach to motion stabilization by using laser distance sensors for biped robots with flexible ankle joints. To avoid the vibrated zero moment point (ZMP) behavior caused by mechanical resonance, a vibration control method is proposed in the paper. In our approach, the deformation of the ankle joint is measured by using laser distance sensors, and the detected deformation is translated into the equivalent reaction force at the center of gravity. The feedback of the reaction force enables the stabilization of the walking motion in a manner similar to resonance ratio control. The validity of the proposed method is evaluated by several experimental results.