Posture/Walking Control for Humanoid Robot Based on Kinematic Resolution of CoM Jacobian With Embedded Motion

• Published in: IEEE transactions on robotics Vol. 23; no. 6; pp. 1285 - 1293
• Main Authors: CHOI, Youngjin, KIM, Doik, OH, Yonghwan, YOU, Bum-Jae
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.12.2007; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Applied sciences; Automatic control; Automatic generation control; Biological system modeling; Center of mass (CoM); COM; CoM Jacobian; Computer science; control theory; systems; Control system analysis; Control system synthesis; Control theory. Systems; Controllers; Design methodology; disturbance input-to-state stability (ISS); Exact sciences and technology; Humanoid; humanoid robot; Humanoid robots; Jacobian matrices; Jacobians; Kinematics; Legged locomotion; Motion control; Posture; posture/walking control; Robot control; Robot kinematics; Robotics; Robots; Walking; whole body coordination (WBC); zero moment point (ZMP); posture/walking control; whole body coordination (WBC); humanoid robot; Center of mass (CoM); disturbance input-to-state stability (ISS); CoM Jacobian; zero moment point (ZMP); Legged locomotion; Coordination; Control synthesis; Jacobi matrix; Modeling; Robotics; Posture; Humanoid robot; Walking; Input to state stability; Center of mass; Limb; Kinematics; Bipedal walking; Zero point; Arm
• ISSN: 1552-3098; 1941-0468
• DOI: 10.1109/TRO.2007.904907

This paper proposes the walking pattern generation method, the kinematic resolution method of center of mass (CoM) Jacobian with embedded motions, and the design method of posture/walking controller for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of whole body coordination to humanoid robot. Third, the posture/walking controller is completed by adding the CoM controller minus the zero moment point controller to the suggested kinematic resolution method. We prove that the proposed posture/walking controller brings the disturbance input-to-state stability for the simplified bipedal walking robot model. Finally, the effectiveness of the suggested posture/walking control method is shown through experiments with regard to the arm dancing and walking of humanoid robot.