BALANCE CONTROL METHOD OF BIPED ROBOT BASED ON FRP FEEDBACK MECHANISM AND ZMP

摘要

The development and application of humanoid robots is very important for scientific and practical problems. And the balance control of the robot is the essential precondition. There are several static or dynamic methods to program humanoid robots' movement. But in specific applications, there are still some weak points. In this paper, we present a novel approach to program the robots' motion based on a data analytical method, viz. force resistance preceptor (FRP). Furthermore, we also adjust the movement of the robots according to zero moment point. Experimental results show that the proposed model and approach in this paper are efficient to help the robots move fast and smoothly in curvilinear motion.