Abstract
Motion control of a humanoid robot is challenging problem because its dynamics is complicated. In previous studies, a macroscopic model is derived from the relationship between the Center of Gravity (COG) and Zero Moment Point (ZMP) to make it easier to design controllers. The authors proposed the maximal output admissible (MOA) set framework based on the macroscopic model and applied it to the falling avoidance control. In this paper, we approximately calculate the MOA set on a humanoid robot with joint servo system by measurement and identification of a response to a disturbance. The effectiveness of the proposed method is verified with an experiment.
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