Balance control based on Capture Point error compensation for biped walking on uneven terrain

Mitsuharu Morisawa, Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kanako Miura, Kazuhito Yokoi. Balance control based on Capture Point error compensation for biped walking on uneven terrain. In 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29 - Dec. 1, 2012. pages 734-740, IEEE, 2012. [doi]

Abstract

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