Maintaining balance in the presence of disturbances is crucial for bipedal robots. In this paper, we focus on the lateral motion component. In order to attain disturbance rejection and to quickly recover balance, we combine three different control approaches. As a principal building block, we generate center of mass trajectories with a linear model predictive controller that takes scheduled foo...

A novel method of Zero-Moment-Point (ZMP) compensation is proposed to improve the stability of locomotion of a biped, which is subjected to disturbances. A compensating torque is injected into the ankle-joint of the foot of the robot to improve stability. The value of the compensating torque is computed from the reading of the force sensors located at the four corners of each foot. The effectiv...

This article presents a method for characterizing the system dynamics of a trapped particle in real-time and designing a controller to minimize disturbances to the particle's position. Specifically, adaptive system identification is used to determine the trap characteristics and the actuator transfer function describing the mirror voltage to trap position path. Using an internal model control s...

Abstract—the Active-disturbance rejection control (ADRC) has the advantage of strong robustness, antiinterference capability, and it does not rely on the accurate math model of controlled plant. But the parameter self-turning of ADRC isn’t as easy as PID controller because there are more parameters to turn in ADRC. In this paper the parameters are self-turning by the Radial Basis Function (RBF)...