Abstract
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.
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© 2010 Springer-Verlag Berlin Heidelberg
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Zhu, WH. (2010). Control of Humanoid Robots. In: Virtual Decomposition Control. Springer Tracts in Advanced Robotics, vol 60. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10724-5_10
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DOI: https://doi.org/10.1007/978-3-642-10724-5_10
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-10723-8
Online ISBN: 978-3-642-10724-5
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