Inertial Forces Posture Control for Humanoid Robots Locomotion

Abstract

In order to consider a whole body control approach capable of treating different kinds of locomotion modes, the consideration of a motion planing and a the posture controller stages is important. In this paper this approach is presented for the locomotion of a humanoid robot. With the proposed approach motions including aerial phases, can be considered. The inertial force posture controller presented here requires the locomotion to be specified using generalized inertial force, besides the trajectory of the extremities not in contact with the ground. This inertial forces can be planed for having zmp stable motion or desired angular momentum.