Biped Robot Control for Variable Speed Walking Considering Joint Torque Limit

Ito Daiki, Murakami Toshiyuki, Ohnishi Kouhei

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


One of the the important issues to drive bipedal robot is a limit of joint actuator. In case of a high-speed walking motion or the motion with heavy load, motor torque is saturated. To address this issue, this paper proposes a control strategy to avoid the torque saturation. First, the walking pattern is generated according to the requred walking speed. Then the exaggerated torque is calcurated from the final torque reference and the estimated disturbance torque. Second, the generated walking pattern is modified so that the motor torque is not saturated. The effectiveness of the proposed algorithm is confirmed by several results of simulation and experiment.

Original languageEnglish
Pages (from-to)489-494
Number of pages6
Journalieej transactions on industry applications
Issue number5
Publication statusPublished - 2002


  • Biped robot
  • Torque limit
  • Variable speed walking

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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