Energy-efficient yaw moment control for humanoid robot utilizing arms swing

摘要

Due to the fact that the undesired yaw moment is inevitably generated during humanoid robot walks, it is thus impossible to ignore its existence to achieve the excellent dynamic balance. In this paper, the problem of yaw moment control for humanoid robot is investigated. First we analyze the the moment equilibrium conditions of yaw axis and formulate a constrained dynamic model of arms swing. To counteract the unexpected yaw moment with the consideration of energy efficiency and physical constraints, a novel armsswing- based approach is proposed. Moreover, one online QP solver is adopted to deal with the optimization problem with both inequality and equality constraints, which is examined to alleviate the burdensome energy consumption. Finally, simulation results verify the effectiveness of the proposed method.