A Balance Control Method of a Walking Biped Robot under a Continuous External Force

In this paper, we present a force resisting balance control method of a walking biped robot under a continuous external force. The balance control method consists of two steps. The first step is to recognize the external force which is applied to the pelvis of the biped robot by ZMP position analysis. The second step is to move the joint angles of the biped robot by the pre-defined angle trajectory. The pre-defined angle trajectory is constructed by single objective optimization process and linear interpolation. We assumed that the biped robot which is used in this research has a position-controlled joint motor. And it has 12 degrees of freedom. The proposed balance control method is verified by numerical simulations.