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Applied Bionics and Biomechanics
Volume 2017 (2017), Article ID 5980275, 16 pages
Research Article

Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control

Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan

Correspondence should be addressed to Satoshi Ito

Received 30 September 2016; Revised 27 December 2016; Accepted 13 February 2017; Published 7 May 2017

Academic Editor: Eugenio Guglielmelli

Copyright © 2017 Satoshi Ito et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper considers the balance control of a biped robot under a constant external force or on a sloped ground. We have proposed a control method with feedback of the ground reaction forces and have realized adaptive posture changes that ensure the stability of the robot. However, fast responses have not been obtained because effective control is achieved by an integral feedback that accompanies a time delay necessary for error accumulation. To improve this response, here, we introduce gravity compensation in a feedforward manner. The stationary state and its stability are analyzed based on dynamic equations, and the robustness as well as the response is evaluated using computer simulations. Finally, the adaptive behaviors of the robot are confirmed by standing experiments on the slope.