Walking stabilization based on gait analysis for biped humanoid robot

Kenji Hashimoto*, Yuki Takezaki, Hun Ok Lim, Atsuo Takanishi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

14 Citations (Scopus)


This study describes a biped walking stabilization based on gait analysis for a humanoid robot. So far, we have developed a humanoid robot as a human motion simulator which can quantitatively evaluate welfare and rehabilitation instruments instead of human subjects. However, the walking motion of the robot looked like humans in our past researches, but a walking stabilization control was not based on gait analysis. To use a humanoid robot as a human motion simulator, not only mechanisms but also a stabilizer should be designed based on human beings. Of course, there are many studies on gait analysis in the field of neuroscience, but most of them are not modeled enough to be implemented on humanoid robots. Therefore, first, we conducted gait analysis in this study, and we obtained following two findings: (i) a foot-landing point exists on the line joining the stance leg and the projected point of center of mass on the ground, and (ii) the distance between steps is modified to keep mechanical energy at the landing within a certain value. A walking stabilization control is designed based on the gait analysis. Verification of the proposed control is conducted through experiments with a human-sized humanoid robot WABIAN-2R.

Original languageEnglish
Pages (from-to)541-551
Number of pages11
JournalAdvanced Robotics
Issue number7
Publication statusPublished - 2013 May 1


  • biped robot
  • gait analysis
  • humanoid
  • walking stabilization

ASJC Scopus subject areas

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


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