각운동량제어를 통한 이족보행로봇의 안정적인 뛰는 동작 생성

Abstract

This paper proposes angular momentum control for stable running motion of a biped robot. When a biped robot runs, internal motion in support and flight phase of a biped robot generates the rate of angular momentum, which is able to cause instability. In this case, stability of a biped robot can be maintained by controlling angular momentum of whole robot body. LIPM(Linear Inverted Pendulum Mode) is used to generate trajectory of center of mass. The effectiveness and the performance of the proposed control algorithm are shown in computer simulations with a 28-degree-of-freedom(DOF).