Control of torque distribution for the BLR-G2 biped robot

Human walking is realized by repeating two motions called single-support phase and double-support phase. The authors consider walking control in the double-support phase. During the double-support phase, there are numerous combinations of the joint torques and floor reaction forces which realize the same trajectory of motion since the number of actuators which drive the articular joints is more than the number of degrees of freedom left in the...