Real-Time Step Length Control Method for a Biped Robot

Takahiro Aiko, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review


In this paper, the real-time step length control method for a biped robot is proposed. In human environment, it is necessary for a biped robot to change its gait on real-time since it is required to walk according to situations. By use of the proposed method, the center-of-gravity trajectory and swing leg trajectory were generated on real-time with that its command value is the step length. For generating the center-of-gravity trajectory, we develop Linear Inverted Pendulum Mode and additionally consider walking stability by ZMP. In order to demonstrate the proposed method, the simulation and experiment of a biped walk is performed.

Original languageEnglish
Pages (from-to)32-37
Number of pages6
Journalieej transactions on industry applications
Issue number1
Publication statusPublished - 2005 Sept 1


  • biped walking
  • inverse pendulum
  • trajectory planning

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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