How the ASIMO running controller really works

The running and anti-slip control system for Honda's ASIMO has been published. See USPTO published application 20050110448.
It's about what I expected. Good old ZMP plus anti-slip control.
                    John Nagle                     Animats
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What's ZMP?
-Patrik

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RedX wrote:

See http://science.howstuffworks.com/asimo3.htm
Susan
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Thanks
-Patrik
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