Walking control of the humanoid platform KHR-1 based on torque feedback control

Jung Hoon Kim, Jun Ho Oh

Research output: Contribution to journalConference articlepeer-review

77 Citations (Scopus)


This paper presents three online controllers for maintaining dynamic stability of a humanoid robot using force/torque sensor. Those are damping controller, landing orientation controller and landing position controller. The legs of a humanoid robot are relatively long and serially connected with compliant force/torque sensor at the ankle. This architecture has the inherent characteristics of a lightly damped system. Most research on balance control overlook the deterministic vibration caused by structural compliance. In addition, the vibration was not positively considered to improve the characteristics of the system. Therefore, a simple inverted pendulum model with compliant joint is proposed. For this model, the damping controller that increases system damping is proposed as a balance controller. Furthermore, the performance of maintaining balance against external forces is experimentally shown. A landing orientation controller at the ankle joints is presented to manage fast and stable ground contact A landing position controller is implemented in order to modify the prescribed trajectory of the swing foot and to reduce the landing impact during unexpected landing. The effectiveness of the proposed controllers is confirmed by walking experiments that has been applied on the KAIST humanoid robot platform KHR-1.

Original languageEnglish
Pages (from-to)623-628
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue number1
Publication statusPublished - 2004
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 May 1

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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