WL-16R is controlled by a PC which is mounted on its trunk, without any external support except for the power supply. Each actuator system is equipped with an incremental encoder attached to the motor shaft, and a photo micro sensor attached to each link in order to detect the initial posture. Also each foot is equipped with a six-axis force/torque sensor which is used for measuring the floor reaction force and ZMP. As a real time operating system, QNX Realtime Platform was selected. Here is a means of walking stabilization control. The method consists of a virtual compliance control, parameter variant method and posture control. These control methods allowed footfall and walking on an unknown inclined road to be realized. Visit The Official Website