2. State of the art and specifics of humanoid robot control
In this section, we summarize a few commands dedicated to humanoid robots, the concepts of fully actuated, overactuated and underactuated humanoid robots according to locomotion phases, and the measurement sensors generally used.
2.1 Order history
The first controls for humanoid robots were based, among other things, on the constraint that the projection of their center of mass (CoM) should always be inside the sustentation polygon. These humanoid robots were therefore statically stable. The direct consequence was a very slow walking speed compared with that of humans
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State of the art and specifics of humanoid robot control
Controls based on single and double inverted pendulum models
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