腱駆動型ヒューマノイドロボットの適応バランス制御

抄録

This paper proposes a balance control method for the tendon-driven type humanoid robots. Due to the mechanical softness of joints, tendon-driven type robots are easier to tip over than the conventional humanoid robots. Thus, this paper attempts to establish the globally asymptotic stable balance controller for them which can quickly start recovering the balance with keeping the zero moment point (ZMP) in the sole. The proposed controller estimates the external moment exerting on upper body online and generates the desired postural trajectories to compensate the estimated external moment by the gravitational moment. The, introduction of reflexive modification of the desired posture yields the balance recovery with less postural turbulence than the PID type balance controllers. The total system controlled by the proposed controller is equivalent to the one controlled by the trajectory tracking controller proposed by the authors previously for tendon-driven type arm robots ¹⁵⁾. Therefore, the proposed balance controller can be integrated with the trajectory tracking controller easily so that it can manipulate the upper body along the desired trajectory with maintaining the balance. The global asymptotic stability around the balance posture generated by the controller is proven along the Lyapunov's direct method. To demonstrate the effectiveness and. feasibility of the controller, some computer simulations and experiment results are exhibited.