Bracing behavior in humanoid through preview control of impact disturbance

In this paper, we propose a new approach for a humanoid balance control. In previous research, a balance control of a humanoid was regarded as a method which absorbs the difference of assumed environment model and real environment. In contrast, we focus on generating bracing motions using prediction of time series of external force. We introduce a disturbance preview control method to generate bracing behavior against external impact. In order to reduce ZMP error at the moment of external impact, we control desired COG trajectory by using a disturbance preview control that takes future information of an external force represented as velocity disturbance of COG. Finally, we show numerical simulation results and demonstrate clash experiments using humanoid robot HOA P-2.