APPARATUS AND METHOD FOR BALANCING AND DAMPING CONTROL IN WHOLE BODY COORDINATION FRAMEWORK FOR BIPED HUMANOID ROBOT

摘要

An apparatus and a method for the walk stabilization of the humanoid robot are provided, which can improve the walking stability by amending the posture of robot. The robot walking control apparatus comprises a ZMP(zero momentum position) controller(120), a COM(center of mass) controller(140), and a PID controller(160). The attenuation controller(170) damps structural vibration of the body according to the walk of robot. The attitude correction device(190) amends the posture of the robot changing according to the damping of vibration. The ZMP corrector(180) amends the locus of the zero moment position according to the movement of robot and center of mass location.