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In this paper, the authors introduce a biped walking control method for adapting to an unknown uneven surface, and a biped walking robot which has a special foot mechanism for the control method. The biped walking robot has an ability to acquire, during its dynamic walking, the information of the landing surface's height and angle of inclination. The authors performed adaptive walking experiments with the robot using the control method. As a

Development of a Biped Walking Robot Adapting to an Unkown Uneven Surface.