Maximal Output Admissible Set of Foot Position Control in Humanoid Walking

Abstract

This study describes the maximal output admissible (MOA) set simultaneously considering the COG stabilization based on the linear inverted pendulum model and the foot position control. The MOA set computes a feasible region for stabilizing controller and allows us to predict a falling risk against unknown external disturbances. However, the previous methods have a limitation that they cannot deal with the foot position control. The linear approximation of the support polygon constraint and the coordinate transformation in the control allow us to compute the MOA set of the foot position control.