Minimal Null Space Task Parameterization for Balance Control of Humanoid robot

Abstract

The balance control for humanoids with null space projection to the contact constrained space has been widely proposed. In this paper, we propose a new formalism for the balance control using null space dynamics to the constrained space. By parameterizing null space tasks through the general solution of inverse kinematics, the null space dynamics can be achieved. Its equation of motion is clearly decoupled with the constrained force and it fully covers the robot motion. It is worth to remark that the control of humanoid robot can be regarded as a regulation problem of manipulator robot on the null space dynamics at active constraints. The simple controller based on computed torque method and the simulation results are given in this paper to verify the formalism.