This paper describes a biped walking control system based on the reactive force interaction control at the foothold. 1) robust control of reactive force/torque interaction at the foothold based on Cartesian space motion controller. 2) the posture control considering the physical constraints of the reactive force/torque at the foothold by quadratic programming. The proposed approach realizes the...

The advantage of legged locomotion in rough terrain and in confined spaces has been investigated extensively in recent years. It is anticipated that in the next decade or so, the prophecy that anthropomorphic biped robots will work side-by-side with humans will be realised. Recent successes in Japan have advanced the field substantially. However, little research has been conducted into the real...

The postural stability of bipedal robots is investigated in perspective of foot-rotation during locomotion. With foot already rotated, the biped is modeled as an underactuated kinematic structure. The stability of such biped robots is analyzed by introducing the concept of rotational stability. The rotational stability investigates whether a biped would lead to a flat-foot posture or the biped ...

SDR-4X II is the latest prototype model of a small biped entertainment robot. It is the improved model of SDR-4X. In this paper we report on the sensing system of this robot, which is important and essential for a small biped entertainment robot which will be used in the home environment. One technology is the design of the motion sensing system, i.e. the inclination sensor system and the force...

Real-time balance control of an eight-link biped robot using a zero moment point (ZMP) dynamic model is difficult to achieve due to the processing time of the corresponding equations. To overcome this limitation an intelligent computing technique based on Support Vector Regression (SVR) is developed and presented in this paper. To implement a PD controller the SVR uses the ZMP error relative to...

Recently, a lot of research has been conducted in the area of biped walking robots that could be compared to human beings. The aim of this article is to control a new planar biped robot by means of an adaptive procedure. The newly designed robot is able to move on its heel like a human. After derivation of dynamic equations of motion for two states of the robot, namely, “supporting leg and trun...

Recently, a lot of researches which aim at realization of dynamic biped walking are being performed. There is Honda's ASIMO as a representative of researches of humanoid robots. ASIMO has joints of many degrees of freedom that are near to a human being, high environment adaptability and robustness, and can do various performances. However, it needs many sensors, complicated control, and walks w...