Observer-Based Control Model Test in Biped Robot

This paper presents two tests of an observed-based model to Biped Robots which takes values of the measured Zero Moment Point and generates a trajectory to the robot, one simulation of a robot and one applied on a real robot. The simulation was made in Robot Operating System, a set of libraries that helps in robot development, with Gazebo, an open-source platform of simulation and the real robot was created using a microcontroller, two sensors and eight servo motors. The results got by these tests were good to make a stable movement.