Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation

This paper proposes a disturbance rejection controller using real-time ZMP (Zero Moment Point) regulation which could maintain the stable walk of a humanoid robot when the robot is subjected to external disturbances. The controller detects the disturbance by an accelerometer, and computes the ZMP increment to overcome disturbance to ensure stability, and then calculate the increment of trajectory of center of mass according to ZMP increment using preview control. The effectiveness of our proposed method was confirmed by simulation in ADAMS and walking experiment on an actual humanoid robot, BHR-5.