Stabilization of a hopping humanoid robot for a push

Abstract

This paper discusses the stabilization of a hopping humanoid robot for a push. According to the size of push, two controllers are selected. The posture balance controller is used when the push is small, and the posture balance controller and the foot placement method are activated together when the push is large. To develop the novel controller of the foot placement method, the simplified model is used and linearized Poincare map for single hopping is made. The control law is designed by the pole placement method. The proposed method is verified through the simulation and experiment. In the experiment, HUBO hops well against various pushes.