Stability control for biped walking based on phase modification during double support period

This paper presents a control strategy based on phase modification during double support period to enhance a humanoid robot´s walking stability. When the foot of the swing leg touches the ground, if Zero Moment Point(ZMP) is not in the stable margin, the phase modification will start. According to the position of ZMP and the relationship between the motion of Center of Gravity(COG) and ZMP position, the related parameters are solved. Series of experiments are taken, and the effectiveness of the method is validated repeatedly.