System and method for controlling the attitude and motion of a humanoid biped robot

摘要

The system has a gravito-inertial sensor system detecting body movements in a translation section of a humanoid robot. An evaluation unit is provided for identifying signals for body foot movement, body translation, rotation and body foot torque fusion. A control unit is provided to generate control signals on the basis of mainly estimated values, where the control signals serve for actuation and control of the robot so that assigned position and motion of the robot are realized. An independent claim is also included for a method for controlling position and motion of a humanoid robot.