Standing Push Recovery Based on LIPM Dynamics Control for Biped Humanoid Robot

Abstract

This paper presents a control method based on LIPM (Linear Inverted Pendulum Model) dynamics for the balance control of biped robot. By setting CoM (Center of Mass), CP (Capture Point), and ZMP (Zero-Moment Point) as the state of LIPM, we use state feedback of linear system to control all of them synchronously. Considering that the robot control system is digital, analysis and controller design are based on discrete system. Simulation results verify the effectiveness of the proposed method. It is also evaluated in the experiments of the robot WALKER standing push recovery.