An approach of motion compensation for biped walking robots with structural deformation

This paper describes an approach of motion compensation by using laser range finder for biped walking robots with structural deformation. The response force received from ground environment is one of important indexes to realize stable walking for biped robots. For more reliable walking under various environments, this paper focuses on the walking motion with considerations of structural deformation. That is, hip joint deformation is observed by laser range sensor mounted at the hip of robot, and the deviation of ZMP trajectory is calculated by using the observed structural deformation, and the motion compensator is designed in order to recover ZMP deviation. The validity of the proposed approach is confirmed by several numerical and experimental results.