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Title: Disturbance rejection by online ZMP compensation
Authors: Prahlad, V. 
Dip, G.
Meng-Hwee, C.
Keywords: Biped locomotion
Zero-Moment-Point compensation
Issue Date: Jan-2008
Citation: Prahlad, V., Dip, G., Meng-Hwee, C. (2008-01). Disturbance rejection by online ZMP compensation. Robotica 26 (1) : 9-17. ScholarBank@NUS Repository.
Abstract: A novel method of Zero-Moment-Point (ZMP) compensation is proposed to improve the stability of locomotion of a biped, which is subjected to disturbances. A compensating torque is injected into the ankle-joint of the foot of the robot to improve stability. The value of the compensating torque is computed from the reading of the force sensors located at the four corners of each foot. The effectiveness of the method is verified on a humanoid robot, MANUS-I. With the compensation technique, the robot successfully rejected disturbances in different forms. It carried an additional weight of 390 gm (17% of body weight) while walking. Also, it walked up a 10 slope and walked down a 3 slope. © 2007 Cambridge University Press.
Source Title: Robotica
ISSN: 02635747
DOI: 10.1017/S0263574707003542
Appears in Collections:Staff Publications

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