Bracing against Impact in a Humanoid using Disturbance Preview Control

摘要

In case humanoids clash with an object or a human, it is an important ability to avoid falling down, so as not to injure their body and humans around them. In this paper, we propose bracing behavior of humanoids against impact using disturbance preview control. This method can be applied to ZMP based balance control. By controlling the center of gravity (COG) using future information of disturbance represented as velocity of COG, we realized to reduce ZMP error at the moment of clash. We show the result of numerical simulation and clash experiment using a small humanoid HOAP-2.