Falling prevention of humanoid robots by switching standing balance and hopping motion based on MOA set

This paper addresses falling prevention by a humanoid robot which adaptively switches a standing balance controller and a hopping motion controller. In the previous research, the author proposed a switching framework between a standing balance controller and stepping motion controller based on the Maximal Output Admissible (MOA) set. Different from stepping or walking motion, a hopping motion requires control of the COG in the vertical direction. In this paper, the MOA set is extended so as to deal with the vertical COG dynamics. The effectiveness is validated with a simulation of falling prevention.