Feedforward Compensation Methods for Zero Moment Point Error from Gyrating Locomotion of Wheel-Legged Mobile Robot based on Previewing Centrifugal Force

Abstract

This paper proposes methods based on the zero moment point (ZMP) to compensate for the effects of centrifugal force and facilitate better mobility of wheel-legged mobile robots (WLMRs). A centrifugal force acting on a high-speed WLMR destabilizes the ZMP. Thus, the centrifugal force should be compensated for to realize dynamic behavior. However, there have been few studies on compensating for the effect of centrifugal force acting on a WLMR. This paper discusses control methods to compensate for the effect. New centrifugal force compensation methods based on disturbance preview control and a zero-phase low pass filter are shown. These methods compensate for the effects of centrifugal force and control the ZMP to follow the reference ZMP. The effectiveness of the proposed methods was validated via precise three-dimensional simulations and experiments.