Yaw Moment Compensation for Humanoid Robot via Arms Swinging

摘要

This paper investigates the problems of the z-axis dynamic balance and high energy consumption in practicalapplication of humanoid robot. Considering z-axis dynamic balance conditions, a novel yaw moment compensation solutionbased on arms-swinging is proposed by computing the optimal arms-swinging trajectories to counteract the yaw momentcaused by the movement of humanoid robot. Given the optimized arms-swinging motion, an adaptive control systemis proposed to track the desired trajectories with model uncertainties. From the Lyapunov stability analysis, the adaptationlaw is induced and the uniformly boundness of all signals in a closed-loop adaptive system is proved. Simulation resultsvalidate the proposed method.