Controllers for running in the humanoid robot, HUBO

This paper discusses the controllers for running in the humanoid robot and verifies the validity of the proposed controllers via experiments. To realize running in a humanoid robot, the overall control structure is composed of an off-line controller and an on-line controller. The main purpose of the online controller is to maintain the dynamic stability while the humanoid robot runs. The on-line controller is composed of the posture balance control in the sagittal plane, the transient balance control in the frontal plane, and the swing ankle pitch compensator in the sagittal plane. These controllers were applied to the humanoid robot, HUBO, and it ran forward stably at a maximum speed of 3.24 km/h.