Whole-body Cooperative COG Control through ZMP Manipulation for Humanoid Robots

Non-linearity in dynamics of legged robots is so strong that control of them is a quite hard problem. An efficiency of lower-level modelization of robots based on the COG has been confirmed both qualitatively and quantitatively. However, the large gap between such lower-level model and precise model often causes the difficulty. In this paper, COG Jacobian, which relates the whole-body motion to COG motion, is proposed to handle the legged robot. It is also effective for ZMP manipulation which functions as a key for stable and responsive motion. Two applications of it, motion stabilization method based on DTAD(Dual Term Absorption of Disturbance) and VIIP(Variable Impedant Inverted Pendulum) model control, are introduced.

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