Real-time control of a humanoid robot

摘要

In this paper, the real-time feedback control and balancing strategies are most focused. We design a real-time stabilizer for humanoid robots, combining the advantages of both position-based and torque-based controllers. The ZMP distributor is used as the control reference and the COG Jacobian is used to realize whole body coordinate balancing. The workability of this stabilizer is proved in this paper. With the proposed stabilizer, the humanoid is able to endure external forces and walk on uneven terrain.