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This paper proposes the walking pattern generation method, the kinematic resolution method of CoM (center of mass) Jacobian with an embedded motion, and the walking controller design method for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded motion makes a humanoid robot balanced automatically during the movement of the all other limbs. Actually, it offers the ability of whole body coordination to the humanoid robot. Third, the walking controller is composed of the CoM controller minus the ZMP (zero momentum position) controller. Also, we show that the proposed walking controller brings the disturbance input-to-state stability (ISS) for the simplified bipedal walking robot model. Finally, the effectiveness of the proposed kinematic resolution method and walking controller is shown through experiments in regard to humanoid robot dancing and walking
Choi et al. (Mon,) studied this question.