Compensatory motion control for a biped walking robot

Hun Ok Lim*, Atsuo Takanishi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

24 Citations (Scopus)


This paper addresses a compensatory motion control algorithm of a biped robot to deal with stable dynamic walking on even or uneven terrain. This control algorithm consists of three main parts; the introduction of a virtual plane to consider ZMP (Zero Moment Point); an iteration algorithm to compute the trunk motion; and a program control to realize dynamic walking. The virtual plane is defined as a plane formed by the support points between the surface of terrain and the soles. In order to obtain the trunk motion capable of compensating for the moments produced by the motion of the lower-limbs during the walking, ZMP equation on the virtual plane is computed by using an iteration method. Also, a walking pattern is presented which is composed of the trajectories of lower-limbs, waist and trunk. The walking pattern is commanded to the joints of WL-12RIII (Waseda Leg-Twelve Refined Three) using a program control method. Through walking simulations and experiments on an uneven terrain, such as stairs and sloped terrain, the effectiveness of the control method is verified.

Original languageEnglish
Pages (from-to)1-11
Number of pages11
Issue number1
Publication statusPublished - 2005 Jan 1


  • Compensatory motion
  • Support polygon
  • Virtual plane
  • Walking pattern
  • ZMP trajectory

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • General Mathematics
  • Computer Science Applications


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