Test of a Robust ZMP Based Pattern Generator with a 12-Internal-DoF Biped Robot Model

Abstract

In this contribution one pattern generator from the literature is tested with a multibody model of a 12-internal-DoF biped robot: a recently proposed generator based on sliding modes, which can be seen as a robustificated version of a classical algorithm. As proposed in the literature, the feedback of the multibody tracking error improve the performance of the multibody ZMP, which is now tested for this sliding-mode-based generator. A bounded disturbance in the multibody model was considered also to test the robustness of the techinque. Tunning complexity issues of the robust generator are also discussed.