Bracing behavior in humanoid through preview control of impact disturbance

S. Kanzaki, K. Okada, M. Inaba
5th IEEE-RAS International Conference on Humanoid Robots, 2005.  
In this paper, we propose a new approach for a humanoid balance control. In previous research, a balance control of a humanoid was regarded as a method which absorbs the difference of assumed environment model and real environment. In contrast, we focus on generating bracing motions using prediction of time serise of external force. We introduce a disturbance preview control method to generate bracing behavior against external impact. In order to reduce ZMP error at the moment of external
more » ... t of external impact, we control future COG trajectory by using a disturbance preview control that takes future information of an external force represented as velocity disturbance of COG. Finarlly, we show numerical simulation results and demonstrate clash experiments using humanoid robot HOAP-2.
doi:10.1109/ichr.2005.1573584 dblp:conf/humanoids/KanzakiOI05 fatcat:6agdfy6i4bhodelui33rwwujje