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The paper describes the balance control of biped locomotion systems. A biped humanoid robot is modeled and studied focusing on the realization of human-like walking. Firstly, the smooth motion of its lower limbs is characterized in terms of a set of walking variables. Secondly, to cancel moments produced by the motion of the lower limbs, the motion of its trunk and waist is derived by an iteration method. Finally, program control using a preset walking motion is applied to the biped robot. To confirm human-like walking, we have constructed a human-like biped robot called WABIAN-RII (WAseda BIped HumANoid robot-Revised II) that has a total of forty-three mechanical degrees of freedom (DOF). Experiments of a human-follow walking are conducted using the WABIAN-RII.
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Lim et al. (2002) studied this question.