Admittance Control Based Humanoid Robot Standing Balance Control

摘要

Balance Control has always been an important research area for humanoid robot. In this paper, admittance control was used as a basic control scheme for humanoid robot to withstand external force disturbances while standing. This paper addresses three typical disturbances, which include tilted ground with unknown angles, placing foot on ground with unexpected obstacles and external forces on upper body due to unexpected contacts, and applies admittance control and some specific adaptations to each disturbance setting to improve the standing stability of the robot.