Hierarchical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control

Figure 2

A bipedal robot with the definition of the ZMP. The force is the ground reaction force while the torque (moment) vector at the ZMP has only component in z-axis. By taking a moment about point O and using the N–E formulation, Equation (1) is obtained for a multibody robot.