A study on robust motion control of humanoid type robot for cooperative working

We present a new technology for real-time walking of a humanoid robot. A humanoid robot necessitates achieving stabilization for real time walking since it has basic problems such as structural stability. In this paper, a robust control algorithm for stable walking is proposed based the ground reaction forces, which are measured using force sensors during walking, and the environmental conditions are estimated from these situation. From this information the robot selects the proper motion and overcomes ground irregularities effectively. In order to generate the proper angel of the joint. The performance of the proposed algorithm is verified by simulation and experiments for a 20-DOFs humanoid robot.