Dynamic Stabilization of NAO Humanoid Robot Based on Whole-Body Control with Simulated Annealing

The prime challenge in a humanoid robot is its stability on two feet due to the presence of an underactuated system. In this paper, the complete dynamics of the humanoid robot has been described in essence of torque calculation at the end effectors. Presence of various restraints in humanoid robot motion makes the task of stabilization an even humongous one. Therefore, to neutralize these constraints, whole-body control (WBC) has been proposed...