A control method based on modal transformation for biped robots to climb unknown steps

This paper proposes a control method based on a modal transformation for biped robots to climb unknown steps. The method is able to control the foot position of the biped robot and the ground reaction force acting in the vertical direction when the biped robot climbs unknown steps in a double support phase. The effectiveness of the proposed method is confirmed by the results of simulations and experiments. © 2012 Wiley Periodicals, Inc. Electr Eng Jpn, 181(3): 59-69, 2012; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.21265

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