Control for robust standing of a bipedal robot by sole pressure

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This paper describes the robust standing of a bipedal robot, which is an essential function for competing in the ROBO-ONE competition, for example. In this study, we measured the pressures of the sole at four points to calculate the zero moment point (ZMP) of the sole. The robustness of the standing of the robot was examined by adding external disturbances. It was shown that the robot can withstand disturbances that cause it to fall down without ZMP control.

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