Motion controller design of biped robot for human-like walking with stretched knee

This paper describes an approach to the motion controller design for human-like walking of biped robot. Generally, the human walk includes the knee-stretched state, which contributes to the natural walk. However, the posture with stretched knee is singular configuration to be avoided in generic motion controller. In our approach, the combination of actual and virtual compliance is integrated in the motion control model so that the walking behavior becomes consequently human-like walk with natural knee-stretched posture. The proposed method does not require any joint-based trajectory planning and captured data from actual human walk. The validity of the proposed method is evaluated by several simulation and experimental results.