Biped walking stabilization based on linear inverted pendulum tracking

A novel framework of biped walking stabilization control is introduced. The target robot is a 42 DOF humanoid robot HRP-4C which has a body dimensions close to the average Japanese female. We develop a body posture controller and foot force controllers on the joint position servo of the robot. By ap...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Kajita, S, Morisawa, M, Miura, K, Nakaoka, S, Harada, K, Kaneko, K, Kanehiro, F, Yokoi, K
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Foot Force Force control Joints Legged locomotion Torque
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