ZMP trajectory control of a humanoid robot using different controllers based on an offline trajectory generation

In this paper a zero moment point (ZMP) trajectory of a humanoid robot model, Surena II, is presented. Humanoid stability is controlled by a PID and a fuzzy controller at two conditions, with and without the presence of external disturbance. Dynamic modeling and control implementation is performed simultaneously in the simulation. The angles of joints are set by offline method, unless the waist angle, which is the control joint and its amplitude is set by the controllers.