A balance control method using entire body for humanoids

Motion generation for humanoids has been studied mainly based on the dynamics. Dynamic based method has, however, some defects: e.g., numerous parameters and expensive computational cost. We have, thus, studied less dependent-on-dynamics approach to handle complex motions using entire body. In this study, the system handles a sequence of postures as an input and to interpolate with inserting extra postures to compensate balance. We have made Balance Checker system and performed to make humanoid robot HOAP-1 do Tai Chi. Balance Checker figures out if we need extra postures to insert for stability. But, it can´t compensate without assistance of user. In this paper, we propose a posture-generation mechanism Posture Generator which acts in concert with Balance Checker. With posture-generate mechanism, our system can generate motions without assistance of human. The postures generated by the system like to ones made with human assistance and showed good balance-controlling performance in the experiment.