Running of HUBO
We describes online balance controllers for running in a humanoid robot and verifies the validity of the proposed controllers via experiments. To realize running in the humanoid robot, the overall control structure is composed of an offline controller and an online controller. The main purpose of the online controller is to maintain dynamic stability while the humanoid robot hops or runs. The online controller is composed of the posture balance control in the sagittal plane, the transient balance control in the frontal plane, and the swing ankle pitch compensator in the sagittal plane. The posture balance controller makes the robot maintain balance using an IMU (inertial measurement unit) sensor in the sagittal plane. The transient balance controller makes the robot keep its balance in the frontal plane using gyros attached to each upper leg. The swing ankle pitch compensator prevents the swing foot from hitting the ground at unexpected times while the robot runs forward. HUBO2 was used for the running experiment. It was designed for the running experiment, and is lighter and more powerful than the previous walking robot platform, HUBO.
Push Recovery of HUBO
We describe the stabilization of a hopping humanoid robot against a disturbance. In the proposed scheme, the method of control is selected according to the size of the disturbance. A posture balance controller is used when the disturbance is small, and the posture balance controller and a foot placement method are activated together when the disturbance is large. A simplified model is used to develop the novel controller for the foot placement method, and a linearized Poincare map for single hopping is made. The control law is designed using the pole placement method.