Walking Gait Compensation Algorithm for Humanoid Robots Based on Universal Force-Moment Sensors and Joint Torques

In order to realize stable walking of humanoid robot,this paper puts forward a gait compensation algorithm,which compensates the joint torques according to information from the universal force-moment sensors in robot feet.This algorithm utilizes the overload capacity of the DC servo motor to improve dynamic performance of the robot joints under heavy load disturbances.Walking experiments prove the effectiveness of this algorithm under an off-line implementation.