Abstract
This paper addresses posture recovery control for humanoid walking. The posture recovery control is designed on top of the feet position impedance control. Reference force/torque values of impedance control are changed by the posture feedback controller. The control laws are switched according to the contact phase. Moreover the shape of support region of each foot is considered and the amount of the change of each reference value is limited so that the sole will not turn over by the posture recovery control. Basic experiments on the full size humanoid HRP-2 validate the proposed method.
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