Abstract
This paper proposes a passivity-based regulator for the balance of a humanoid robot. This regulator can dynamically stabilize internal motions as well as the configuration of a floating base. Using a unique transformation that conserves the power, we can rigorously prove the stability of an equilibrium point of the closed-loop system. Moreover, the regulator can be implemented easily since the transformation simplifies an optimization problem to determine the realizable control input and a post-process such as the inverse kinematics. Experiments validate the robustness of the proposed controller to disturbances, including a large angular momentum and large disturbances in the environments.
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