Abstract
The center of pressure (CoP) of ground reaction forces is an effective factor to evaluate the biped balance. From this point of view, we proposed a new CoP control method based on its feedback information. In this paper, we apply it to the weight shifts in the double support phase of the biped system. This method does not require the desired trajectories of joint angles, because of which the CoG is adaptively controlled according to the external forces without re-designing the motion pattern. The simulations and robot experiments will show the effectiveness of this control law
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