Fundamentals of Humanoid Robot Walking Control

Humanoid robot walking control is one of the most fundamental capabilities of humanoid robots. This chapter first presents a stability analysis of humanoid robots, including the ZMP-based stability criterion and other important stability evaluation methods. It then introduces typical inverted pendulum models used for humanoid robots, as well as gait planning methods based on ZMP and related approaches. Finally, classic walking control methodologies are discussed, including hybrid zero dynamics, model predictive control, and whole body control.