Motion control strategy for humanoid robot MIH-1

In this paper, we focus on the problem of stabilizing a humanoid robot on a complete walking cycle in 3D space. Based on the analysis of passive dynamic walking and mechanical energy consumption, we propose a strategy to drive a 26-DOF humanoid robot during two fundamental phases: swing-phase and impact-phase. The ZMP condition and other factors on the active walker are taken into account. Furthermore spring-phase, a standard procedure appearing only in the running cycle with both legs in the air, is discussed to prepare for the conversion-from walk to run.