Patent ID: 8447429

Claim:
A method for balancing and damping control in a whole body coordination framework for a biped humanoid robot including a main body and a plurality of limbs, the method comprising the steps of: (a) damping, by a damping controller, structural vibration of the main body of the robot caused when the robot walks; (b) compensating for trajectories of a zero moment position (ZMP) and the center of mass (COM) of the robot which change in accordance with the damping of the structural vibration; (c) compensating for a body orientation of the robot which changes in accordance with the damping of the structural vibration and the trajectory of the COM; (d) designing a desired trajectory of an angular velocity of the main body of the robot as expressed by the following equation: ω ref =ω d +T (φ){ k p (φ d −φ)+ k I ∫(φ d −φ) dt} where φ represents a body orientation angle, φ d represents a desired body orientation angle, k p and k I are coefficients of PI control, T(φ) represents a transformation matrix, ω ref represents a reference angular velocity, and ω d represents a desired angular velocity of the main body of the robot; and outputting the desired trajectory of the angular velocity of the main body of the robot to the robot to stabilize the body orientation of the robot through feedback control.