The motion control of a statically stable biped robot on an unevenfloor

This work studies the motion control of a statically stable biped robot having seven degrees of freedom. Statically stable walking of the biped robot is realized by maintaining the center-of-gravity inside the convex region of the supporting foot and/or feet during both single-support and double-support phases. The main points of this work are framing the stability in an easy and correct way, the design of a bipedal statically stable walker, and walking on sloping surfaces and stairs.