Center of gravity based control of a humanoid balancing robot for boxing games : BalBot V

This paper presents development of humanoid balancing robot system whose structure is a combined system of a humanoid robot system and a mobile inverted pendulum system. The humanoid robot steps on the mobile inverted pendulum as if the humanoid robot rides the mobile robot. A new concept of the center of gravity based control method is presented. The humanoid robot on the balancing system can control movements by differing the position of the center of gravity of the balancing robot. Playing the boxing game between two humanoid balancing robots is performed by remote control.