Stabilization Strategy of Humanoid’s Ice-skate Walking by Visual-lifting Approach

-Spontaneous Arms’ Swinging for Ice-skate Walking by Dynamical Coupling-

Abstract

Biped locomotion created by a controller based on ZMP known as reliable control method looks different from human’s walking on the view point that ZMP-based walking does not include tipping-over state. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, we propose walking stabilizer based on Visual-lifting Approach to enhance standing robustness and prevent the robot from falling down. Simulation results indicate that this stabilizer helps stabilize pose and bipedal walking even though ZMP is not kept inside convex hull of supporting area. Moreover, we point out that arms begin to swing asymmetrically by dynamical coupling among body links without input torques and verify the effects of the arms’ swing on the ice-skate walking.