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An online posture modification method termed  Jacobi Compensation  is proposed which is suitable to modify precalculated step trajectories for a humanoid robot in certain task coordinate directions. This method can account for modeling errors in trajectory precalculation by shifting e. g. the center of mass or certain parts of the humanoid mechanism to increase walking equilibrium and performance. A theoretical analysis of stability properties is given.

Online Posture Correction for Humanoid Walking Robots (Online Haltungskorrektur für humanoide Laufroboter)