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In this paper, realtime control of dynamic biped locomotion using sensor information is investigated. The authors used an ultrasonic range sensor mounted on the robot to measure the distance from the robot to the ground surface. During the walking control, the sensor data is converted into a simple representation of the ground profile in realtime. The authors also developed a control architecture based on the linear inverted pendulum mode which they proposed previously for dynamic walking control. Combining the sensory system and the control system enabled the authors' biped robot, Meltran II, to walk over ground of unknown profile successfully.
Kajita et al. (Mon,) studied this question.
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