Disturbance rejection control based on acceleration projection method for walking robots

摘要

This paper presents a disturbance rejection scheme for walking robots under unknown external forces and moments. The disturbance rejection strategy, which combines the inverse dynamics control with the acceleration projection onto the ZMP (zero moment point)-plane, can ensure the overall dynamic stability of the robot during tracking the pre-computed trajectories. Under normal conditions, i.e., the system is dynamically balanced, a primary inverse dynamics control is utilized. In the case that the system becomes unbalanced due to external disturbances, the acceleration projection control (APC) loop, will be activated to keep the dynamic stability of the walking robot through modifying the input torques. The preliminary experimental results on a robot leg demonstrate that the proposed method can actually make the robot keep a stable motion under unknown external perturbations.