Balancing via Position Control

Abstract

This chapter describes the balancing scheme based on the position control using the kinematic resolution method of center of mass (CoM) Jacobian. First, the simplified rolling sphere model is introduced for bipedal robots. Second, the kinematic resolution method of CoM Jacobian having the embedded task motion makes a humanoid robot to be balanced automatically during the execution of embedded task motion; indeed it offers the ability of whole-body coordination to the humanoid robots. Third, the simultaneous CoM and zero moment point (ZMP) stabilizer consists of the CoM control minus the ZMP control. Also the CoM and ZMP stabilizer brings the disturbance input-to-state stability (ISS) for the simplified robot model. Finally the effectiveness of the CoM and ZMP stabilizer combined with the kinematic resolution method is verified through experiments in regard to dancing and walking of humanoid robot. © Springer Nature B.V. 2019.