Numerous approaches have been proposed to generate well-balanced gaits in biped robots that show excellent performance in simulated environments. However, in general, the dynamic balance of the robots decreases dramatically when these methods are tested in physical platforms. Since humanoid robots are intended to collaborate with humans and operate in everyday environments, it is of paramount importance to test such approaches both in physical platforms and under severe conditions. In this work, the special characteristics of the Nao humanoid platform are analyzed and a control system that allows robust walking and disturbance rejection is proposed. This approach combines the zero moment point (ZMP) stability criterion with angular momentum suppression and step timing control. The proposed method is especially suitable for platforms with limited computational resources and sensory and sensory-motor capabilities.
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