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This paper describes an approach of motion stabilization for biped robots with flexible ankle joints. The flexible joints cause the resonant oscillation under conventional control. In our approach, the deviated center of gravity (COG) due to the ankle's deflections is measured in real-time by laser distance sensor mounted on the hip. Assuming the two mass model at COG, the equivalent reaction force...
A controller for biped running has to consider varying vertical ground reaction force while satisfying the horizontal ground reaction force and moment limits. We propose a design technique for feedback gains to stabilize the upper body position under varying vertical ground reaction force. We also propose an extended model ZMP control method which uses horizontal and rotational acceleration of the...
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