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For stable motions of position controlled humanoid robots, ZMP (Zero Moment Point) control is widely adopted, but needs to be integrated with other controllers due to its relatively slow response and the execution error of robots. While CoM (Center of Mass) control is much more directly than ZMP feedback control in the view of rejecting unknown external disturbance. In the meanwhile, we hope the position-based...
For human-like locomotion, applying human motion capture data (HMCD) to the humanoid robot is a nature way. However, adapting HMCD online is a non-trivial problem. Not only because achieving both kinematic similarity and dynamic stability is difficult but also because such an optimization problem is intractable. This paper proposes an online adaptation approach using convex optimization for humanoid's...
A new 2D walking pattern generation method is proposed for biped robots in this paper. The key feature of the proposed method is to obtain an optimal walking pattern on-line with the largest stability in the sense of zero moment point (ZMP) subject to the constraints of torque and velocity of the joint actuators. With the aids of a 3-link dynamic model of the robot legs and third-order spline interpolation,...
Biped robot may become unstable during dynamic walking because of the huge impact/contact forces produced by foot instant landing. In this paper, force/torque-based compliance control is applied to absorb the impact forces generated between the contacting foot and the ground to keep stable dynamic walking. By imitating human's muscles to absorb the landing force, this method models the ground and...
In this paper we introduce a method to generate whole body's linear and angular momentum, and use upper body to compensate for the momentum caused by lower-body prescribed trajectory for fast dynamic walk of humanoid robot. In this method, the system dynamic model is built with its performance indices, and the optimal momentum compensation (OPMC) is solved by preview control method. Experiments conducted...
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