Courses / control

CS-3 Humanoid Balance & Locomotion

advanced~16 hours16 lessons

Prerequisites: cs2-state-space-optimal-control

Start: The support polygon: where balance livesPractice questions

Modules

Module 1 — ZMP & LIPM
  1. 1The support polygon: where balance lives
  2. 2The ZMP: dynamics enters the polygon
  3. 3The LIPM: the one model that makes bipeds tractable
Module 2 — Walking pattern generation
  1. 1Walking as scheduled falling: the gait cycle in LIPM terms
  2. 2Preview control: the CoM moves before the plan does
  3. 3Footstep planning with the capture point
Module 3 — Whole-body control
  1. 1From joints to tasks: the Jacobian's second job
  2. 2The whole body's physics: an engine you can audit
  3. 3The whole-body QP: reroute, don't clip
  4. 4Standing on a QP: the balancer, limits and all
Module 4 — Stabilization/push recovery
  1. 1The recovery ladder: ankle, hip, step — as capturability regions
  2. 2The step, executed: trigger, swing, touchdown
  3. 3Touchdown: what impact takes, and what it cannot touch
Module 5 — Hardware realities
  1. 1Compliance: the spring you didn't order
  2. 2Latency and backlash: two taxes, two currencies
  3. 3Sim-to-real: what breaks, what survives, and why

Textbooks

  • Introduction to Humanoid Robotics — Kajita, Hirukawa, Harada & Yokoibook