An approach to change course of biped locomotion with 3-D invert pendulum model

摘要

In this paper, we studied a biped robot changing the direction. In order to change the direction effectively, the torque exerting at the supporting point should be taken into account. If the torque is too large, for example, the sole of the robot may start slipping. Therefore torque applied at the supporting point is analysed, when the robot is turning.