Farbod Fahimi and Christopher Nolen
Humanoid robot, support force control, configuration control,disturbance rejection
A scheme is proposed that can maintain the support force under a humanoid robot’s stance foot at a desired level despite external dis- turbances. The scheme, for the first time, simultaneously addresses two possible causes of gait instability: tipping of the robot, and sliding of the foot on the ground. The scheme uses the configuration control approach at the acceleration level. It manipulates the robot’s joint accelerations to strike an optimum between following the de- sired gait and maintaining the support reactions as desired values. The robot’s joint positions are derived by integrating the joint ac- celerations twice. A simulated 18-degree-of-freedom (18DOF) robot capable of 3D motions is used for demonstration of the scheme. For simplicity, the motion planner scheme is formulated based on a reduced 8DOF model of the 18DOF robot. The scheme is successful in maintaining the desired gait and the support reactions despite the existence of external disturbances, consequently, maintaining an stable gait.
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