Time-variant feedback controller based on capture point and maximal output admissible set of a humanoid

摘要

This paper formulates the maximal output admissible (MOA) set of a capture point (CP) feedback controller for adaptive humanoid balancing. In previous studies where the MOA set was employed, an adaptive strategy-switching control was proposed. In general, the MOA set requires iterative computation; however, this study has proven that the MOA set of the CP feedback controller can be obtained analytically. This result was applied to a continuous switching feedback gain, which was regarded as a time-variant feedback controller realizing an adaptive response to external disturbances. The validity of the proposed time-variant controller was verified by a whole-body dynamics simulation.