Method of generating complex motion in controlling humanoid robots

A new control method based on tasks of humanoid robot is presented according to the requirement of development of controlling the humanoid robot. This method is implemented in controlling the whole joints of robot, which is composed of tasks control and selective joints control. It has taken advantaged of remote control and autonomous control. A control pattern is proposed between the controller and the humanoid robot. For this control pattern, one task can be divided into several subtasks, and task control pattern is adopted for the simple tasks while joint control pattern is achieved for the complex tasks. By the method, fewer inputs can be used for controlling more complex motions of humanoid robots, and the control pattern used can be adjusted by the level of difficulty of tasks to be accomplished. Experiments show that the control method has a good result on basketball robots.