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Biological systems seem to have a simpler but more robust locomotion strategy than that of the existing biped walking controllers for humanoid robots. We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center-of-pressure location and velocity to detect the phase of the lateral robot...
This paper reports on the applicability of our passivity-based contact force control framework for humanoids. We present its adaptation to unknown rough terrain. The adaptation to uneven ground is achieved by an optimally-distributed anti-gravitational forces applied to preset contact points in a feed-forward manner even without explicitly measuring the external forces or the terrain shape. The adaptation...
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