Development of stabilization technology of a complex motion by compensated control of disturbance

Verification of the ZMP stabilization effect by hybrid compensated control

Abstract

It is difficult that 'A complex motion of a humanoid robot for which the whole body was used dynamically movement', for example both arms moving intensely while involving a rotation and vertical moving of the waist, and the movement of foot of stop motion also included. Because disturbance caused by unstableness of landing of the sole and a bend by mechanical force becomes conspicuous, it's necessary to compensate these sufficiently. This report made a subject the traditional dance as an example of a complex dynamic motion. And development of this stabilization control technique and an inspected result will be reported.