ヒューマノイドロボットにおける単純な胴体姿勢操作によるバランス制御

抄録

This paper proposes a balance control method for humanoid robots. Our method consists of CoG position control and torso angle control. In our method, the soles of the robot do not have to touch the ground. Simulation results show that proposed controller is effective for balance recovery after external force is applied and moreover the controller works well even if the robot is in the air.