Perfect tracking of ZMP trajectory for humanoid locomotion using repetitive control

Mohamed A. Sayari*, Riadh Zaier, Neila Masmoudi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


In this paper, the tracking of the zero moment point (ZMP) trajectory for humanoid locomotion is addressed. For that, a combination of a repetitive controller (RC) and a linear quadratic regulator (LQR) is proposed. The RC controller achieves a zero steady state tracking error for any periodic desired output with a fixed period. Here, the robot model is simplified as a cart table model. In the first stage, a walking pattern with constant gait is considered to allow the use of a repetitive controller. The results are then compared to a classical PD control. In the second part, the proposed controller is applied to track a desired ZMP profile generated using a central pattern generator (CPG). Here, the speed of the oscillator is adjusted via a proper selection of the parameters of the CPG and the RC design is simultaneously updated to assure the perfect tracking of the ZMP.

Original languageEnglish
Pages (from-to)6037-6043
Number of pages7
JournalJournal of Mechanical Science and Technology
Issue number12
Publication statusPublished - Dec 1 2019
Externally publishedYes


  • Biped locomotion
  • Central pattern generator
  • Motion generation
  • Repetitive controller
  • Zero moment point

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering


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