CONTROL METHODS OF DYNAMIC WALKING FOR HUMANOID ROBOT

摘要

In this paper, the basic issues and the related concepts about the dynamic walking of humanoid robots are described. From viewpoints of information and control the various methods of gait planning and posture control for dynamic walking are analyzed, and their advantages and shortcomings are pointed out, respectively. Some chanllenging subjects to study in this field are presented for realizing the sophisticated humanoid robots.