抄録
Humanoid robots have been considered as a universal machine which can operate in place of human. This kind of universal machine requires human-like biped walking capability. In particular, it is important to avoid falling by appropriately switching behaviors even if there are unknown disturbances. The authors proposed the maximal output admissible (MOA) set for stabilization of the center of gravity (COG) in the upright position. Based on the MOA set, we can switch feedback gains with the Zero Moment Point (ZMP) constraint satisfied. In this paper, the author extends MOA set framework to tracking controller to a referential trajectory. This extension makes it possible to switch controllers: regulator in the upright position and tracking controller for a stepping motion in order to avoid falling. The effectiveness of the proposed method is verified with a simulation.
