Abstract
In this paper a method that allows for the control of a humanoid robot with foot sensors through an imitation control approach is presented. Our approach does not use any prior analytical or mathematical robot modeling (e.g. forward or inverse kinematics). The key concept is to trace the CoP (center of pressure) as fast as possible and to control the ankle of the robot’s support foot prior to impact. The experimental results demonstrate that a humanoid robot can successfully imitate the motions of the operator and can walk stably by utilizing both the CoP and controlling the robot’s ankle.
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