ZMP compensation by on-line trajectory generation for biped robots

Jong Hyeon Park, Hoam Chung

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

39 Citations (Scopus)


This paper proposes an adaptive trajectory generation strategy of using on-line ZMP information with an impedance control method. During walking, since the robot experiences various disturbances like pulling or pushing forces, the walking mechanism should have the robustness against those disturbances, and it requires an on-line adaptation ability. If sensed ZMP goes out of the preset ZMP boundary, the on-line trajectory planner generates the trajectory of the base link in the vertical direction to compensate the required moment for recovering stability. The ZMP equation and sensed ZMP information are used in this trajectory generation strategy. In this paper, an impedance controller with impedance modulation is used to control biped robots for stable walking. Computer simulation with a 3-dof environment model for which a combination of a nonlinear and linear compliant contact models is used, shows that the proposed controller performs well. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of force.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Systems, Man and Cybernetics
PublisherIEEE, Institute of Electrical and Electronics Engineers
Publication statusPublished - 1 Dec 1999
Externally publishedYes
EventIEEE International Conference on Systems, Man and Cybernetics 1999 - Tokyo, Japan
Duration: 12 Oct 199915 Oct 1999 (Proceedings)


ConferenceIEEE International Conference on Systems, Man and Cybernetics 1999
Abbreviated titleSMC 1999
Internet address

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