Walking Algorithm for Robotis Op3 Humanoid Robot with Force Sensors

This paper presents the implementation of walking algorithm for small-size humanoid robot ROBOTIS OP3 and its assessment by using force sensitive resistors (FSR). The goal of this work is to provide a simple walking controller based on quasistatic stability and assessment of its performance accuracy with the use of FSR. For this purpose, the robot has been retrofitted with ROBOTIS OP2 FSR kit. The servos errors are compared with the center of mass (CoM) position estimated from installed FSR with positioning error analysis.