Abstract
A Compact Humanoid I-VY can control torque of a joint actuator because of sensing its electric current. In addition, I-VY can measure joint angle and its velocity with potentiometers inserted into the actuators. From these information, I-VY can estimate ZMP(Zero Moment Point). On the other hand, conventional ZMP estimation method uses the force/torque information, which needs various sensors. This study compared the proposed estimation methods of ZMP applied to I-VY with the conventional method, and proposes simple posture control system by using the proposed method.
