Adaptive dynamic balance control of humanoid robot based on leg joints

This paper investigates the problems of the dynamic balance and high energy consumption for humanoid robot. Considering the influence on stability caused by the undesired yaw moment, a novel adaptive dynamic balance control based on leg joints is proposed. According to the moment balance conditions and the analysis about the mechanism resulting in yaw moment, the optimal leg joints angles trajectories is proposed to counteract the yaw moment caused by the movement of humanoid robot. Given the optimized leg joints angles motion, an adaptive control system is proposed to track the desired trajectories with model uncertainties and the stability proof is provided. Simulation results validate the proposed method.