Task-based Whole-body Control of Humanoid Robots to a Walking Motion

In this paper a whole-body control strategy is proposed for walking of humanoid robots. Its basic idea lies in the control of the centre of mass(CoM) with a ZMP regulation as well as the relative pose of the feet of the robot. A stable walking trajectory based on 3D linear inverted pendulum model (3D-LIPM) is planned for the study. Through the proposed study, it is shown that the proposed control strategy perfectly tracks the planned trajectory of CoM and adjusts the ZMP back to the stability area when the robot is out of balance. Simulations results are presented to show the effectiveness of the proposed control scheme.