Abstract
Humanoid robots have been considered as a universal machine which can operate in place of human. This kind of universal machine requires human-like biped walking capability. In particular, it is important to avoid falling by appropriately switching behaviors even if there are unknown disturbances. This paper addresses a novel approach for switching of two types of motion controllers: standing balance controller and stepping motion controller. The former is designed as a regulator of the Center of Gravity (COG) and the latter is designed as a trajectory tracking controller. In the previous study, the authors presented the Maximal Output Admissible (MOA) set for the regulator. If the current COG state is included in the MOA set, it is possible to apply the regulator with the constraint on the center of pressure satisfied. In this paper, the author extends the MOA set to the trajectory tracking controller. This extension makes it possible to prevent a robot from falling by switching these controllers. The effectiveness of the proposed method is verified with simulations.
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