' Proposal of Biped Robust Hybrid Walking Control Based Position/Foree Control on

This paper describes a novel biped walking control based on a force control. The proposed control system can stabilize the contact force between the foot and the ground under the proposed restrictions. As a result, a hierarchical control 4s proposed, by which the legged locomotion can be realized. The proposed control system is applied to the I9 axes simulation model and the results of stable walking are shown.