Vibration Suppression and Balance Control for Biped Humanoid Walking

In this paper, we present vibration suppression and balance control algorithm for biped humanoid robots in the motion embedded CoM Jacobian. The vibration control is employed during a single supporting phase, which can suppress vibration induced by structure flexibility. Because the previously proposed walking control method in the whole body coordination (WBC) framework is based on the rigid body motion, flexible mode vibration control which suppresses the residual vibration can make the humanoid motion into rigid body motion. Also, balance control algorithm which controls body attitude is applied to the WBC framework. By dynamic walking experiments using a humanoid robot MAHRU-R, we verify the validity of the proposed control methods.