An Analysis of ZMP Control Problem of Humanoid Robot with Compliances in Sole of the Foot
| Authors: | Nazir Napoleon, Tokyo Institute of Technology, Japan
Izu Hiroki, Toyota Motor Corporation, Japan
Nakaura Shigeki, Tokyo Institute of Technology, Japan
Sampei Mitsuji, Tokyo Institute of Technology, Japan |
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| Topic: | 4.3 Robotics |
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| Session: | Robot Control I |
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| Keywords: | Humanoid Robot, ZMP feedback control, Zero dynamics, Control system analysis, Root locus |
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Abstract
This paper describes an analysis of balance control of humanoid robot based on ZMP feedback control. The purpose of this paper is to make clear understanding of ZMP control problem which is composed by inverted pendulum control and ZMP compensation control. This paper shows that this problem can be formulated as high gain output feedback and the existence of zero dynamics in closed loop system. This paper also shows stability condition of zero dynamics, and then stability of zero dynamics and closed-loop systems are analyzed using root locus. From the root locus analysis, the guidelines on finding state and output feedback gain which achieve good performance of control system, are shown.
