AutoBalancer: An Online Dynamic Balance Compensation Scheme for Humanoid Robots

Abstract

Algorithms for maintaining dynamic stability are central to legged robot control. Recent advances in com­ puting hardware have enabled increasingly sophisticated physically based simulation techniques to be utilized for the offline generation of dynamically-stable motions for complex robots, such as humanoid robots. However, in order to design humanoid robots that are reactive and robust, a low-level online balancing scheme is required.