A real-time implementation of walking control for humanoid robot

This We present a new approach for robust walking of a biped robot, on uneven terrain, A biped robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a robust control algorithm for stable walking is proposed using 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 on a 20-DOFs humanoid robot.