Generation of walking pattern for huamnoid robot is one of the most challenging issue for humanoid robot research. For stable walk of humanoid robot we have to consider dynamics of the robot. In most cases to check the stability of the robot concept of zero moement point is usig. Since dynamics of robots’ whole body is too complicated many uses linear inverted pendulum model.
In our Lab. to over come the limitation of linear inverted pendulum model, we consider whole body dynamics of the robot. For a long term research, our goal is generate natural walking motion like human.