YAW MOMENT COMPENSATION FOR BIPEDAL ROBOTS VIA INTRINSIC ANGULAR MOMENTUM CONSTRAINT

This paper is aimed at describing a technique to compensate undesired yaw moment, which is inevitably induced about the support foot during single support phases while a bipedal robot is in motion. The main strategy in this method is to rotate the upper body in a way to exert a secondary moment that counteracts to the factors which create the undesired moment. In order to compute the yaw moment by considering all the factors, we utilized Eulerian ZMP Resolution, as it is capable of characterizing the robot's rotational inertia, a crucial component of its dynamics. In doing so, intrinsic angular momentum rate changes are smoothly included in yaw moment equations. Applying the proposed technique, we conducted several bipedal walking experiments using the actual bipedal robot CoMan. As the result, we obtained 61% decrease in undesired yaw moment and 82% regulation in yaw-axis deviation, which satisfactorily verify the efficiency of the proposed approach, in comparison to off-the-shelf techniques.