Humanoid Walking Robot: Modeling, Inverse Dynamics, and Gain Scheduling Control

Figure 3

Control system based on the torque prediction using the concentrated mass reference model, ${\tau }_{\mathrm{nom}\hspace{0.17em}}$ is the nominal torque vector calculated based on the ground force provided by the reference model (mass-spring model), ${\tau }_{\text{corr}}$ is the correction calculated based on the measurements of the robot joints angles and acceleration vector, and $\tau$ is the commanded torque signal that is sent to the actuators.