Ryo Iizuka

Walking With Hand Motion/Force Control and CoM/VRP and Trunk Compliance for Disturbance Accommodation

Walking control along preplanned footholds is ensured with the well-known DCM/VRP stabilization approach. To accommodate an external disturbance, the proposed walking controller uses CoM/VRP compliance, i.e. modification of the original DCM trajectories in accordance with the measured/estimated dist