Balance control analysis of humanoid robot based on ZMP feedback control

Estimation of Ground Reaction Force and Zero Moment Point on a Powered Ankle-Foot Prosthesis

“…Some of these strategies emphasize the importance of the ankle-foot complex in balance control (Gatev et al, 1999;Morasso and Sanguinetti, 2001;Zhiming, 2004). In the area of humanoid machine control, similar ankle-foot joint control methods have been implemented to maintain the stability of legged robotic systems (Hirai, 1998;Ito, 2002;Erbatur, 2002;Napoleon, 2002). Powerful strategies for balance control in bipedal systems, proposed in both research fields, rely on the knowledge of the ground reaction force (GRF) (i.e.…”

“…The planned and programmed motions should be such, that this reference point exists under the foot and support polygon during locomotion, avoiding the fall of the robot. A number of researchers have developed several methods for balance control of bipedal systems that consider the use ground reaction force and ZMP trajectory Kawasaki, 2000, 2003;Napoleon et. al.…”

Motion Planning of Emergency Stop for Humanoid Robot by State Space Approach

“…In such system, it is known that the tracking performance has a limitation by any feedback control [20]. However, in term of the initial value problem for the position of ZMP and COG in (6) and (7), it is possible to generate the trajectories of ZMP and COG with an undershootless or an overshootless by the suitable feedback gain, because there is no unstable zero point at the numerator.…”

Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

“…One of the classical forms of this type, humanoid robot, which only has solid links, can move or balance through ZMP method [4][5][6]. Anyway, this method is only appropriate with MIMO system which has the same number of inputs and outputs.…”

“…Classical methods of ZMP control for humanoid robot [4][5][6] become useless for ARs due to structure of AR as a MIMO underactuated system. Some researches [16][17][18] simplified the complicated structure of two-legged robot into simple form: spring-load inverted pendulum (SLIP).…”