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Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 1, Issue 1, Pages 187-207, DOI: https://doi.org/10.21307/ijssis-2017-286
License : (CC BY-NC-ND 4.0)
Published Online: 13-December-2017
In this paper, researches and advances in biped locomotion are reviewed. A detailed survey is presented describing the various research problems and the approaches reported in the literature to analyze and control biped locomotion. A method of Zero-Moment-Point (ZMP) compensation is discussed to improve the stability of locomotion of a biped which is subjected to disturbances. A compensating torque, computed from the force sensor reading, is injected into the ankle-joint of the foot of the robot to improve stability. The effectiveness of the method is demonstrated on a humanoid robot, MaNUS-I, to reject disturbances of various form.
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