Abstract: According to one aspect, a control system for providing stable balance control may include an H? controller, a state-feedback circuit, a first feedback loop, and a second feedback loop. The control system may be implemented in a robot as a controller for the robot. The H? controller may receive an input signal and generate a control effort signal. The state-feedback circuit may receive the control effort signal as an input and generate an output signal. The feedback loop may include the H? controller and the state-feedback circuit and may transfer the output signal of the state-feedback circuit back to the input of the H? controller and input a tracking error input signal to the H? controller. The tracking error input signal may be the difference between the output signal of the state-feedback circuit and the input signal.

Abstract: According to one aspect, a control system for providing stable balance control may include an H? controller, a state-feedback circuit, a first feedback loop, and a second feedback loop. The control system may be implemented in a robot as a controller for the robot. The H? controller may receive an input signal and generate a control effort signal. The state-feedback circuit may receive the control effort signal as an input and generate an output signal. The feedback loop may include the H? controller and the state-feedback circuit and may transfer the output signal of the state-feedback circuit back to the input of the H? controller and input a tracking error input signal to the H? controller. The tracking error input signal may be the difference between the output signal of the state-feedback circuit and the input signal.

Abstract: A setting unit 33 configured to set a first landing permissible region in order to ground a free leg side foot 16 within an upper tread surface or a lower tread surface of a step existing ahead of a legged mobile robot 1 in a traveling direction, and a setting unit 34 configured to set a second landing permissible region in order to ground the free leg side foot 16 on an edge of the upper tread surface or the lower tread surface are provided to switch landing permissible regions for movement control of the robot 1 according to a step height.

Abstract: A setting unit 33 configured to set a first landing permissible region in order to ground a free leg side foot 16 within an upper tread surface or a lower tread surface of a step existing ahead of a legged mobile robot 1 in a traveling direction, and a setting unit 34 configured to set a second landing permissible region in order to ground the free leg side foot 16 on an edge of the upper tread surface or the lower tread surface are provided to switch landing permissible regions for movement control of the robot 1 according to a step height.