Ankle-hip-stepping stabilizer on tendon-driven humanoid Kengoro by integration of muscle-joint-work space controllers for knee-stretched humanoid balance

Abstract

In this paper, we proposed and implemented ankle-hip-stepping stabilizer for tendon-driven humanoid as a stabilizer that can be used in humanlike knee-stretched posture. The stabilizer is inspired from ankle-hip-stepping strategy of human balance control. The stabilizer is implemented as the integration of two stabilizer, ankle-hip stabilizer as a joint space controller and stepping stabilizer as a work space controller. We conducted evaluation experiments, and confirmed effectiveness of the stabilizer.