Adaptive fuzzy yaw moment control of humanoid robot based on ankle joint

This paper investigates the problem of yaw moment control of humanoid robot and presents a robust adaptive control system for compensating the undesired yaw moment. In order to get the ideal ankle joint trajectory with low energy consumption, a novel yaw moment control based on ankle is proposed. The main strategy in this method is to adjust ankle joint trajectory in a way to exert a moment for counteracting the factors which generate the undesired yaw moment. Given the optimized ankle joint angles motion, an adaptive fuzzy control system is proposed to track the desired trajectories with model uncertainties and the stability proof is provided. Simulation results validate the proposed method.