Abstract
This paper describes a whole motion pattern generation based on the preview control.Also,a walking stability control which consists of ZMP compensatory control and inverted pendulum control for a biped humanoid robot to walk.The ZMP compensatory control updates the gravity position of the waist according to ZMP,the inverted pendulum control accelerates ZMP to the falling direction of the robot.In order to verify the effectiveness of the pattern generation and the control method,the simulation of the whole body motion is conducted by using Adams and MATLAB/Simulink.
