High Mobility Control of Humanoid Robots Based on an Analogy of ZMP-COG Model and Carted Inverted Pendulum Model

摘要

A new control of the whole-body motion of humanoid robots is proposed. An analogy of ZMP-COG model and carted inverted pendulum represents the core dynamics of humanoids as strong nonlinear systems. It clues to the ZMP manipulation with a large number of degrees-of-freedom in the whole-body cooperated, and to the technique of a direct handling of dynamical constraints about the reaction force from the environment. As the result, the robot body is controlled just as if it were a simple inverted pendulum. And, COG Jacobian maps the motion of such an approximate model to the real multibody system. The advantage of proposed typically appears in the robustness against large perturbations, since it is suitable for a realtime implementation with a less computational cost.