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The authors introduce a control method for dynamic biped walking under unknown external forces and moments. By using this method, they perform walking experiments of real-time control with the biped walking robot WL-12RIII which has a newly developed real-time controller. The result shows that the WL-12RIII realized a 0.64(s/step) dynamic stepping motion under an unknown external force which was rectangular and acting backward on its waist. The maximum force strength was 100(N) and the time width was 0.3(s). And the validity of this control method and the real-time controller was experimentally supported.>
Takanishi et al. (2002) studied this question.