Control of Humanoid Robots
Since “Asimo” was introduced by Honda in 2000, humanoid robots have drawn increasing attentions of both academics and general public. To make a humanoid robot function as expected, control plays a vital role. Unfortunately, due to the difficulties in implementing a full-dynamics-based real-time control for a humanoid robot with hyper degrees of freedom, most state-of-the-art control approaches use ZMP (zero moment point) technique in which the dynamic interactions among different parts of a robot are treated as disturbances and only the gravity compensation with a rough dynamic force prediction is integrated into the decentralized joint PID controller. The lack of a precise modeling, without doubting, limits the control performances of biped systems and consequently limits the speeds in dynamic walking.
KeywordsAnkle Joint Humanoid Robot Zero Moment Point Torque Constraint Actual Step Time
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