Choi, Youngjin Kim, Doilk Oh, Yonghwan You, Bum-Jae 2024-01-21T00:04:15Z 2024-01-21T00:04:15Z 2021-09-02 2007-12 1552-3098 https://pubs.kist.re.kr/handle/201004/133940 This paper proposes the walking pattern generation method, the kinematic resolution method of center of mass (CoM) Jacobian with embedded motions, and the design method of posture/walking controller for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of whole body coordination to humanoid robot. Third, the posture/walking controller is completed by adding the CoM controller minus the zero moment point controller to the suggested kinematic resolution method. We prove that the proposed posture/walking controller brings the disturbance input-to-state stability for the simplified bipedal walking robot model. Finally, the effectiveness of the suggested posture/walking control method is shown through experiments with regard to the arm dancing and walking of humanoid. robot. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC Posture/walking control for humanoid robot based on kinematic resolution of CoM Jacobian with embedded motion Article 10.1109/TRO.2007.904907 1 IEEE TRANSACTIONS ON ROBOTICS, v.23, no.6, pp.1285 - 1293 IEEE TRANSACTIONS ON ROBOTICS 23 6 1285 1293 scie scopus 000251944100020 2-s2.0-37549030489 Robotics Robotics Article center of mass (CoM) CoM Jacobian disturbance input-to-state stability (ISS) humanoid robot posture/walking control whole body coordination (WBC) zero moment point (ZMP)