Rabin & Berdo, P.C.
System and method for balance control of humanoid
A system for balance control of a humanoid includes a control input generation unit which determines Zero Momentum Position (ZMP) of the humanoid with respect to ground, and a control output generation unit which determines Center of Mass (CoM) position and velocity of the humanoid, wherein the control input generation unit and the control output generation unit determine the ZMP and the CoM position and velocity, respectively, by applying a discrete-time dynamics equation sampled by applying a non-pathological sampling frequency.
Korea Institute of Science and Technology
B B
B25J B62D
inventional inventional
Yonghwan Jung Hoon
Oh Kim