Abstract
The research was focused on increasing the walking and standing stability of a robot. The traditional method needs accurate Center of gravity (COG) information; however, the exact signal cannot be acquired. In fact, the signal is liable to be contaminated by noise and inertial measurement unit (IMU) may be inappropriately installed. Moreover, COG is significantly influenced by the posture of robot. A novel control method, zero torque control method (ZTC), is adopted in this research. To estimate the COG during the control process. The control algorithm is implemented on a one-leg robot and a humanoid robot. In order to verify the ZTC control method on the improvement of robot walking stability, a MATLAB simulation and COG-changing experiments were executed. The results showed ZTC is able to correct the inaccurate information from IMU to modify the robot posture as well as to improve the stability of walking robot.