ZMP Feedback Balance Control of Humanoid in Response to Ground Acceleration
Masanori Konishi,Kunio Kojima,Kei Okada,Masayuki Inaba,Koji Kawasaki,Masanori Konishi,Kunio Kojima,Kei Okada,Masayuki Inaba,Koji Kawasaki
In order for a humanoid robot to balance on the movable ground, balance feedback control in response to its unpredictable movement is required. However, feedback control in response to ground movement has the following two issues, (A) Interaction between the ground dynamics and the balance control may cause vibration. (B) The balance control may rather deteriorate the stability due to the response...
