Yaw Moment Compensation for Humanoid Robot via Arms Swinging

This paper investigates the problems of the z-axis dynamic balance and high energy consumption in practical application of humanoid robot. Considering z-axis dynamic balance conditions, a novel yaw moment compensation solution based on arms-swinging is proposed by computing the optimal arms-swinging trajectories to counteract the yaw moment caused by the movement of humanoid robot. Given the optimized arms-swinging motion, an adaptive control system is proposed to track the desired trajectories with model uncertainties. From the Lyapunov stability analysis, the adaptation law is induced and the uniformly boundness of all signals in a closed-loop adaptive system is proved. Simulation results validate the proposed method.