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Maintaining balance while walking is not a simple task for a humanoid robotbecause of its complex dynamics. The presence of a persistent disturbance makesthis task even more challenging, as it can cause a loss of balance andultimately lead the the robot to a fall. In this paper, we extend ourpreviously proposed Intrinsically Stable MPC (IS-MPC), which guaranteesboundedness of the CoM with respect to the ZMP, to the case of persistentdisturbances. This is achieved by designing a disturbance observer whoseestimate is used to compute a modified stability constraint included in the QPproblem formulation. The method is validated by MATLAB simulations for the LIPas well as dynamic simulations for a NAO humanoid in DART.

Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances