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		Baoping WANG,Renxi HU,Jinming ZHANG,Chuangfeng HUAI.[en_title][J].Control Theory and Technology,2009,7(1):87~.[Copy]

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BaopingWANG,RenxiHU,JinmingZHANG,ChuangfengHUAI
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Received:February 22, 2007Revised:September 25, 2007

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Balance recovery control for biped robot based on reaction null space method

Baoping WANG, Renxi HU, Jinming ZHANG, Chuangfeng HUAI

(Department of Mechanical and Electronic Engineering, Guangdong Baiyun University, Guangzhou Guangdong 510450, China; Department of Basic Courses, Ordnance Engineering College, Shijiazhuang Hebei 050003, China; School of Mechanical and Electronic Control E)

Abstract:

A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method. The called “step strategy” can be modeled by means of the reaction null space method that introduced earlier to tackle dynamic interaction problems of free-floating robots, or moving base robots in general. 6-DOF biped robot model simulations are used to confirm the validity.

Key words: Biped robot Balance recovery control Reaction null space Step strategy