Patent ID: 8924015

Claim:
A computer based method comprising: computing a zero-moment point (ZMP), a net force, and a net moment for a whole body motion of a system including performing a specified upper-body task motion; determining whether the specified upper-body task motion is dynamically feasible based on the computed ZMP; responsive to a determination that the specified upper-body task motion is dynamically infeasible, modifying the ZMP to generate a modified ZMP within a support of the system; determining a modified net force and a modified net moment based on the modified ZMP, the net force, and the net moment, wherein the modified net force has a same normal component as the net force, and wherein the modified net moment has a same moment about a torso origin of the system as the net moment; determining a bias torso acceleration based on the modified net force; determining a modified whole body motion based on the bias torso acceleration; and performing the modified whole body motion to perform the specified upper-body task motion.