Stabilization control for biped follow walking

Hun Ok Lim*, Yousuke Yamamoto, Atsuo Takanishi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

13 Citations (Scopus)


This paper proposes a follow-walking motion for biped humanoid robots based on a stabilization control and a complete walking-motion pattern. To follow human motion, the unit patterns of the trunk, the waist and the lower limbs are generated and synthesized. During the follow motion, the biped robots are balanced by the stabilization control that calculates the combined motion of the trunk and the waist that compensates for the moments produced by the motion of the lower limbs. For confirmation of the follow-walking motion, we have developed a life-sized humanoid robot, WABIAN-RII (WAseda BIped humANoid robot-Revised II). It has a total of 43 mechanical d.o.f.; two 6-d.o.f. legs, two 10-d.o.f. arms, a 4-d.o.f. neck, 4-d.o.f. in the eyes and a torso with a 3-d.o.f. waist.

Original languageEnglish
Pages (from-to)361-380
Number of pages20
JournalAdvanced Robotics
Issue number4
Publication statusPublished - 2002
Externally publishedYes


  • Biped humanoid robot
  • Compensatory motion
  • Follow walking
  • Stability
  • Unit pattern

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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