Real time motion generation and control for biped robot -3rd report: Dynamics error compensation-

Trajectories generated from approximate dynamics models can lead biped robots to fall down due to the difference of dynamics between the approximate dynamics model and the real robot. In this paper, we propose real time methods to compensate for the dynamics error using dynamics error compensation models. Our methods satisfy the horizontal ground reaction force and moment limits so that no slip is caused with the ground. We also propose a method to compensate for the knee dynamics error which is not modeled in our approximate dynamics models. Combining these techniques, running motion is achieved on a real biped.