Abstract
This paper proposes a walk control consist ng of a feedforward dynamic pattern and a feedback sensory reflex. The dynamic pattern is a rhythmic and periodic motion, and is generated assuming that the models of the humanoid and the environment are known. The sensory reflex is a simple, b t rapid motion programmed in respect to sensory information. The sensory reflex consis s f the ZMP (Zero Moment Point) reflex, the landing-phase reflex, and the body-posture reflex. With the dynamic pattern and the sensory reflex, it is possible for the humanoid to walk rhythmically and to adapt itself to the en ironmental uncertainties. The effectiveness of our proposed method was confirmed by dynamic simulation and walk experiments of an actual 33 DOF humanoid.
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