Abstract
Practical biped walking robot is presented in this paper. The biped walking robot is a popular research area in robotics because of the high adaptability of a walking robot in an unstructured environment. However, lots of circumstances which have to be taken into account make the biped robot control a challenging task. For the stability of the biped walking robot, the zero moment point (ZMP) trajectory in the robot foot support area is a significant criterion. If the ZMP during walking can be measured, it is possible to realize stable walking and to stably control the biped robot by the use of the measured ZMP. So actual ZMP data are measured in real time situations from practical biped walking robot and the obtained ZMP data are modeled by fuzzy system to explain empirical laws of the robot. By the simulation results, the fuzzy system can be effectively used to model practical biped walking robot.