Whole-Body Motion Generation for Balancing of Biped Robot

A humanoid robot has a similar form to humans, allowing it to be deployed directly into many existing infrastructures built for people, making it highly applicable to future industries or services. However, generating motion is challenging, and it is highly affected by disturbances due to its complex dynamic characteristics. This paper proposes a method to enable a biped robot to achieve stable motion in various environments. The capture point (CP) control is used to modify the zero moment point (ZMP) to stabilize the naturally divergent dynamics of the simplified linear inverted pendulum model (LIPM) and a model predictive control (MPC) framework is implemented to generate a center of mass (COM) trajectory that tracks the adjusted ZMP. To minimize angular momentum caused by disturbances and discrepancies between the actual robot and the dynamics model, arm motion is generated through a momentum controller. Various walking simulations were conducted to verify stable whole-body motion.