산기협 특별강좌 - 지능형 로봇기술 : Posture/Walking Control for Humanoid Robot

Abstract

This paper proposes the walking pattern generation method, the kinematic resolution method of CoM(center of mass) 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 the movement of the all other limbs. Actually, it offers the ability of WBC(whole body coordination) to the humanoid robot. Third, the posture/walking controller is composed of the CoM controller minus the ZMP(zero momentum point) controller. Also, we show that the proposed posture/walking controller brings the ISS(disturbance input-to-state stability) for the simplified bipedal walking robot model. Finally, the effectiveness of the proposed kinematic resolution method and posture/walking controller is shown through experiments in regard to the dancing and walking of humanoid robot.