Balance Control of Humanoid Robot for Hurosot

This paper presents balance control of humanoid robot for HuroSot using its upper body motion and swinging two arms. The upper body is modeled as an inverted pendulum for an on-line compensation. By using the upper body motion it compensates ZMP (Zero Moment Point) error, obtained by FSR (Force Sensitive Resistor) sensors attached on the sole of the foot. Also by swinging the arms it can cancel the yawing moment such that it can walk properly by keeping its overall balance. Experimental results of balance control of HSR-V, a small sized humanoid robot for HuroSot designed and developed in the RIT laboratory at KAIST, are described to demonstrate the effectiveness and applicability of the proposed method. Copyright c ©2005 IFAC