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Motion Planning for Humanoid Robot Based on a New Stability Evaluation Technique

Stability balance is a very important issue of the motion planning humanoid robot. Theoretically, the motion which has the higher stability is more stable, so how to evaluate the stability is very important in the motion planning for humanoid robot. Some researchers have proposed stability evaluation method based on ZMP, the stability margin is used to evaluate the stability, however these method can just evaluate the stability of one kind of motion which have the same step length, that is to say the stable region should be the same. This paper proposed a new stability evaluation technique which can evaluate the stability between different walking, the stable region of which are different. The effectiveness of the proposed method is confirmed by simulations and experiments with our developed humanoid robot with 32 DOF.