Phase plane control of a humanoid

This paper proposes ankle torque and foot placement control methods in the coronal plane (frontal or roll) for a humanoid robot. It is an important problem to control the posture of a humanoid robot in the coronal plane during walking. When the humanoid robot walks, the phase portrait of the pelvis position in the coronal makes an elliptical shape. In this paper, we develop an ankle torque and foot placement controller for tracking the desired phase portrait. We design these two controllers by using simulation of a simplified compass gait biped model to regulate the desired phase portrait of the pelvis position. The performance of these controllers is evaluated on a hydraulic humanoid robot.