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Whole-body Motion Control for a Humanoid Robot

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People expect a humanoid robot to behave like human since the humanoid robot has structural similarities to human. But in reality, even imitating a simple motion of human is not so simple for the humanoid robot. A motion or task which humans do normally, such as walking, opening a door and moving something is a result of implementing several kinematic and dynamic tasks. A large number of DOF(Degrees of Freedom) of a humanoid robot is the source of the ability to carry out those tasks simultaneously but also the source of the complexity.

 Our Whole-body Motion Control (WMC) research aims to give the position-controlled humanoid robot the ability of carrying out multiple tasks in real time. We deal with the problem in simpler kinematic level than dynamic level because we concern a position-controlled humanoid robot. But for the most important task related to the stability, the dynamic effect of the flexible elements between the robot and the environment is not ignorable. Therefore we use a sprung inverted pendulum model and the model parameters are identified through experiments. With the ZMP Regulation Controller, the stability of the robot is controlled through the Center of Mass (COM) tasks. The inverse kinematics solution satisfying the tasks in order of priority is obtained by using our own task-priority based inverse kinematics algorithm. And inequality constraints are considered in the inverse kinematic algorithm to prevent joints from crashing into the limit.


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