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This paper presents a new forward walking pattern known as stretch-legged walking and posture control algorithm in single support phase. Additionally, what has been termed the walking guide platform (WGP) was developed to verify the developed walking pattern. Walking pattern is generated by simple function such as sine function and 3rd polynomial. Especially pelvis center is generated by 3rd polynomial that is tuned by hip shape factor. The value is selected by experiment. Posture control that is composed of body balancing controller and vibration-reduction controller maintains posture of robot in single support phase. It prevent robot falling in walking. Based on proposed walking pattern, posture control makes realization of stretch-legged walking in humanoid robot.