Stability control and pattern generation for biped humanoid robot

摘要

This paper describes stability control for a biped humanoid robot. The stability control consists of ZMP compensation control and inverted pendulum control for the robot to walk stably on the ground. The ZMP compensation control compensates the displacement of the waist according to ZMP, and the inverted pendulum control accelerates ZMP to the falling direction of the robot. Also, a whole motion pattern generation based on the preview control is developed. It enables the robot to walk with arm swings. According to the walking parameters, the angles of the whole body are calculated by inverse kinematics. In order to verify the effectiveness of the pattern generation and the control method, the simulation of the whole body motion is conducted by using Adams and MATLAB/Simulink.