Humanoid Robot is the most advanced topic in the robotics area. In humanoid robotics, the biped walking is the most important function of the humanoid robot. To accomplish stable biped walking, a well-designed walking pattern and a posture stabilization are required.
Walking pattern can be derived by the following steps.
1) Observation of human walking
2) Mathematical modeling of the human walking
3) Walking parameter determination & setting
4) Derivation of foot position & orientation trajectories
Posture stabilization is achieved by the following steps
1) Mathematical modeling of biped robot
2) Design various online controllers
3) Switching the online controllers according to the walking stages
: Walking control unit
4) Walking control unit modifies the walking pattern in real-time.
