Characteristics of Real-Time Imitation Control for Biped Robot: Falling Time Analysis

The purpose of this paper is to show that a biped robot can walk by an imitation control. It proposes architecture and system for real-time imitation control of a biped robot. Using this method, the operator can interact with the robot to walk. The operator produces trajectory data necessary to start, stop, walk and redirect the robot. We have to send control commands or new angular position values for to the robot as fast as possible. To get intuition how fast the robot should be controlled, its falling time which as the primary time question is discussed. An inverted pendulum calculation example and the real robot fall down experiment were compared in this paper.