Dynamic state feedback for zero moment point biped robot stabilization

The aim of this paper is to develop and test experimentally a ZMP direct feedback controller that could handle adequately some limitations presented by other known controllers, specifically lack of robustness due to non-modeled dynamics, saturation effect of non-ideal actuators, and slow response time to disturbances. After ZMP modelling the design of the proposed nonlinear dynamic state feedback controller is presented, where the concept of total stability is employed to ensure biped robot dynamic balance. The controller is applied to a biped robot of 14 degrees of freedom and experimental results are presented.