Research of Motion Control for Humanoid Robot Based on Parametric Optimum

During the process of motion for humanoid robot,it may fall due to some uncertainty factors.Since the falling is inevitable,research on the optimal control of falling for humanoid robot is achieved.By thorough analysis of falling action,optimal control for falling action based on parameter optimum is proposed.For the sensitivity of initial value of problem and lack of SQP(Sequence of Quadratic Programming) in the parameter optimum method,a filter of initial states is designed and a method based on improved SQP filter algorithm is present to improve the optimization process.The optimization results are obtained by comparing with control of the minimum principle and finally the control method is validated in the simulation and experiment.