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In this paper, the authors devise a method that a biped walking robot realizes a learning process of walking stabilization with the cooperation of a human, by imitating the learning process of a baby.We have developed a biped walking robot which has a trunk, and equipped the robot with a ZMP (Zero Moment Point) measurement system , which is composed of two universal force-moment sensors, and with a mechanical interface for the cooperation .We performed walking experiments with the biped walking robot, in which a human directly taught the robot the desired ZMP, and the robot learned to stabilize its walking with the cooperation of the human.As a result , the robot acquired the taught desired ZMP by modifying its trunk motion and it achieved stable walking by itself through the process of several walking trials.
Li et al. (Sun,) studied this question.