Momentum standard type balance control device of the humanoid robot who is in non-horizontal and non-stationary on the ground

摘要

Momentum-Referenced balance control device, to maintain a balance by controlling the humanoid robot. Goal linear momentum rate of change from the desired motion of the robot and balance control device, to get the target angle momentum rate of change. Then, determine goals ground reaction force and the target pressure center (target CoP) (target GRF), balance control device, to achieve the target linear momentum variation rate and the target angle momentum rate of change. While the robot is able to maintain a balance still allowable CoP as close to optimal for a target value that was above the allowable GRF, and the allowable linear momentum change rate, the balance control device, the allowable angular momentum change rate to determine. By controlling the robot, balance control system maintains a balance based on the humanoid motion model of the motion of the robot is similar to human motion. Even when you receive external disturbances, and to enter the ground or non-stationary and non-horizontal and / or the robot can maintain the balance is beneficial. [Selection Figure Figure 2