Trunk motion control during the flight phase considering angular momentum of a humanoid

What is it about?

The waist posture remained horizontal during human jumping, the position remained the same when the posture switched from the flight phase to the stance phase. Therefore, to maintain a horizontal waist posture, we developed a stabilization control method that calculates the angular momentum caused by the motion of the lower body and determines the corresponding upper-body movement required to control the angular momentum of the entire body based on the deviations in the waist posture.

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Why is it important?

The developed control method can contribute to improving the stability of humanoids that perform dynamic movements including the flight phase, such as jumping, hopping, and running. Because most other control methods for stabilization of the dynamic motion of humanoids focus on the stance phase, the developed method will be integrated without interference. Thanks to improved stability, humanoids will be able to advance into human living spaces and work stably.