Compliance Optimization Considering Dynamics for Whole-Body Control of a Humanoid

This paper discusses an optimization method of the wholebody compliance for stable and robust control of a humanoid robot. In a previous study, one of the authors proposed resolving the virtual viscoelasticity at the center of gravity into the joint viscoelasticity, considering the redundant degrees of freedom, and named this method as resolved viscoelasticity control (RVC). However, the author considered only the relationship based on statics. In this study, the authors extend the previous work on the RVC by considering dynamics. This extension helps to realize stable and robust balancing. We also provide a comparison between the RVC and the control method based on the operational space formulation. The proposed method is validated using forward dynamics simulations.