Attitude control experiments of biped walking robot based on environmental force interaction

In this paper, the attitude control of the biped robot based on the robust reactive force control is proposed, which can locally suppresses the unknown disturbances on the terrain. The method is investigated through the experiments of the 14-axes biped robot. The position of the center of mass and the attitude of the body is well controlled within /spl plusmn/0.03 [m] and /spl plusmn/0.04 [rad] (=/spl plusmn/2.3 [deg]) errors.