Gyroscope integrated environmental mode compliance control for biped robot

Many researchers proposed methods to adapt uneven terrain for biped robots. Environmental mode compliance control is one of those methods. Another feature of this control is that it makes a walking stability. However, the environmental mode compliance controller cannot maintain the body horizontally, and cannot be applied if the body is inclined. In this paper, gyroscope integrated environmental mode compliance control is proposed. This method can compensate the ZMP error due to the inclination of the body. Thus, this method can be applied even if the body is inclined. The validity of the proposed method is confirmed by experimental results.