Romansy 14 pp 471-480 | Cite as

Stabilization Walking Control for Human-like Biped Robots

  • Hun-ok Lim
  • Yusuke Sugahara
  • Atsuo Takanishi
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


This paper describes a stabilization walking control method for a biped humanoid robot with a trunk to realize the dynamic walking. When the biped robot walks on the ground, the motion of the lower-limbs and the upper-limbs generates moments that make it unstable. In order to cancel the produced moments, the compensatory motion of the trunk and the waist is used, which is calculated by the walking control method based on a model-based walking control algorithm. In the transient walking phases, the trunk and the waist should move earlier than the shift of ZMP on the floor due to instability. The effectiveness of the control method is con.rmed by dynamic walking experiments.


Humanoid Robot Compensatory Motion Carbon Fiber Reinforce Plastic Biped Robot Trunk Motion 


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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Hun-ok Lim
    • 2
  • Yusuke Sugahara
    • 1
  • Atsuo Takanishi
    • 2
  1. 1.Department of Mechanical EngineeringWaseda UniversityJapan
  2. 2.Humanoid Robotics InstituteWaseda UniversityJapan

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