...William Z. Peng; Hyunjong Song; Joo H. Kim To achieve walking and push recovery successfully, a biped robot must be able to determine if it can maintain its current contact configuration or transition into another one without falling. In this study, the ability of a humanoid robot to maintain...

... configurations are obtained by repetitious trial; the unique configurations are accidentally achieved by inspiration or intuition. Each of them has its own characteristic and can be an alternative option for biped robot design. Compared with most of the existing biped mechanisms, these configurations are simpler...

... system without constraints from stationary motion analysis devices. We propose an ambulatory human motion analysis system based on small inertial sensors to measure body segment orientations in real time. A new imitation control method was developed and applied to a biped robot using data of human joint...