Balancing Walking Gait For Small Size Humanoid Robot By Using Movable Mass

This paper describes a method used in stabilizing the walking gait of HUNO - a small size humanoid robot by using a movable mass. This method eliminates the movement of the robot's pelvis when walking. In previous study, a model for the robot was derived and simulation was done based on that model. In this paper, the aforementioned model is implemented on real life robot. Then, a simple PID is deduced to control the real movable mass mechanism. Finally, the effectiveness of the proposed method is shown through experimental results.