This paper describes walking control algorithm for the stable walking of a biped humanoid
robot on an uneven and inclined floor. Many walking control techniques have been …

This paper describes the mechanism of biped locomotor, WL-16 (Waseda Leg No. 16), its
compliance control method and experiments carrying a human. This robot is developed …

Reconnaissance and surveillance are crucial activities for both military and civilian
organizations. Detection in crucial hot spots, hostage and survivor rescue, illicit drug raids …

Up to now humanoid robots have been designed primarily for walking on flat surfaces. In the
future, humanoid robots are required to replace human beings to operate in natural or …

The two-legged humanoid structure has advantages for an assistive robot in the human
living and working environment. However, the control of bipedal walk is a challenge …

A new method for bipedal walking on rough terrain by using ZMP criteria map is proposed.
The rough terrain walking is classified to “step up” and “step down” by landing timing of a …

This paper describes a walking control method on inclined planes for a biped locomotor.
The walking control consists of a position control, virtual compliance control and posture …

To date, many control methods have been researched on the assumption that the soles of a
biped walking robot contact the ground as four points. It is difficult for almost all biped robots …

Many control methods have been studied on the assumption that the feet of biped robots
contact the ground with four points. However, it is difficult for almost all of such biped robots …

To date, many control methods have been studied, assuming that the soles of a biped
walking robot contact the ground as four points. It is difficult for a biped robot with rigid and …