Multiple Balance Strategies for Humanoid Standing Control

Full-state feedback parametric controllers are proposed for standing balance of humanoid robots in response to impulsive and constant pushes. Multiple robot models are used to approach multiple strategies in human standing balance. For each model, we design a parametric controller acting on each state variable and optimize controller parameters for different push sizes, directions, and locations. The performance of each controller is shown in response to different external pushes. By comparing the capabilities of handling disturbances in each strategy, the contributions of every joint to standing balance are also explored.