In-place lateral stepping motion of biped robot adapting to slope change

A zero moment point (ZMP) criterion is a powerful method for biped control. Although many works plan locomotion patterns based on it, the ZMP is not always controlled in a feedback manner. We proposed a static balance control based on a feedback of ZMP positions, and applied it to a weight shift motion in biped double support phase. In this paper, we extend these methods to the biped in-place stepping motion. We examine the effectiveness of this control method by not only simulations but also robot experiments.