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We have developed a balance compansating method for dynamic motions of a full-body humanoid standing on one leg. This method could compensate tri-axial moments in any motions , using all joints of body in real-time. In this method, costraint conditions for stable motion were calculated by using physical 3D model of the robot , and the output motion was determined by solving an optimization problem so that the output should be closest to the input under the constraints. The proposed method had high generality because of independence of joints arrangement of robot. This paper describes the algorithm of the method and an experiments applied on the 16 D.O.F. humanoid in kick motion.
Tamiya et al. (Fri,) studied this question.