Open AccessA Simple Feedback Controller to Reduce Angular Momentum in ZMP-Based Gaits
Author(s) -
Juan José Alcaraz-Jiménez,
David Herrero-Pérez,
Humberto Martínez Barberá
Publication year - 2013
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/52448
Subject(s) - zero moment point , control theory (sociology) , angular momentum , computer science , controller (irrigation) , digital pattern generator , gait , robot , biped robot , stability (learning theory) , simple (philosophy) , moment (physics) , generator (circuit theory) , control (management) , physics , humanoid robot , artificial intelligence , classical mechanics , power (physics) , physical medicine and rehabilitation , philosophy , epistemology , agronomy , biology , medicine , telecommunications , chip , quantum mechanics , machine learning
The Zero Moment Point (ZMP) stability criterion has been broadly employed for walking pattern generation in legged robots. However, ZMP-based approaches usually ignore the presence of angular momentum in the system. This hinders the performance of the gait, especially against disturbances. In this work we propose an angular momentum controller that can be integrated into standard ZMP-based gaits. The experiments on a real Nao robot demonstrate that the use of the proposed angular momentum controller improves the stability of a walking pattern generator based on the preview control of the ZMP