抄録
This paper addresses the problem of naturally looking and energy efficient walk of biped humanoids. We presupose that such walk requires motion control capability around kinematic singularities, such that the knee can be fully extended. This problem is tackled by adopting the Singularity-Consistent method devoloped for manipulator motion control at and around kinematic singularities. We implemented the method with a HOAP-2 humanoid robot, demonstrating stable static walk as a first step in this direction.
