Visual Feedback Control of ZMP for Biped Walking Robot

This paper describes a visual feedback control of zero moment point (ZMP) for biped walking robot. In conventional approach, the use of internal sensors such as force sensor, gyro sensor, accelerometer, is popular sensing strategy for developing dynamically balanced motion. The proposed method employs vision sensor (CCD camera) which is also useful for environmental recognitions, therefore the effective sensing is possible for getting ego-motion stabilization and environment information. In this paper, the appropriate mechanical flexibility around ankle joints are given, and the ZMP is detected by only vision sensor mounted on the robot. Then, the visual feedback control is also designed for getting stable contact between foot sole and ground, and ZMP regulator by using rotational motion around center of gravity is simultaneously implemented for dynamically balanced motion. The validity of the proposed method is evaluated by several experimental results.