Biped walking stabilization based on gait analysis

Abstract

This paper describes a walking stabilization control based on gait analysis for a biped humanoid robot. We have developed a human-like foot mechanism mimicking the medial longitudinal arch to clarify the function of the foot arch structure. To evaluate the arch function through walking experiments using a robot, a walking stabilization control should also… (More)
DOI: 10.1109/ICRA.2012.6225253

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